Task: Put a chilled lettuce in the trash can.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.75          0.900          -1.75          0              90             0
   1  Ladle           -0.544         1.066          0.416          0              0              0              63
   2  Ladle           2.706          1.066          -1.151         0              0              0              60
   3  DishSponge      1.925          0.764          4.118          0              270            0              61
   4  ButterKnife     2.441          1.026          1.895          0              136.999        0              60
   5  WineBottle      -1.102         1.028          1.427          0              0              0              63
   6  Glassbottle     2.673          0.765          3.445          0              0              0              61
   7  Glassbottle     -1.059         1.442          -0.738         0              90             0              104
   8  Pot             2.116          1.027          -1.84          0              270            0              64
   9  Spoon           1.350          1.028          -1.667         0              90             0              60
  10  Fork            2.013          0.802          1.489          0              317.0          0              74
  11  Egg             2.267          0.808          4.288          0              329.999        0              61
  12  Cup             1.895          1.859          -1.876         0              0              0              106
  13  Cup             1.925          0.763          3.969          0              270            0              61
  14  Plate           -0.539         0.046          2.071          0              0              0              89
  15  Knife           2.276          0.789          3.747          0              0              0              61
  16  Knife           2.685          0.789          3.994          0              315            0              61
  17  Tomato          -1.028         0.839          -0.184         0              90             0              104
  18  Tomato          -1.013         1.495          -0.295         0              90             0              104
  19  SoapBottle      -0.984         1.780          1.537          0              0              0              94
  20  SoapBottle      2.919          0.763          3.604          0              329.999        0              61
  21  SaltShaker      2.376          0.760          3.795          0              0              0              61
  22  SaltShaker      2.222          2.275          -1.754         0              0              0              88
  23  PepperShaker    1.350          0.031          -1.683         0              0              0              79
  24  PepperShaker    2.978          0.028          -0.843         0              0              0              101
  25  Bread           2.788          0.832          4.412          0              225            0              61
  26  Lettuce         2.451          0.822          3.62           0              0              0              61
  27  Lettuce         -0.997         0.135          2.811          0              0              0              115
  28  Mug             2.239          0.759          4.484          0              329.999        0              61
  29  Mug             2.626          0.759          3.821          0              270            0              61
  30  Apple           -0.577         0.866          1.337          0              90             0              117
  31  Apple           -0.577         0.866          1.181          0              90             0              117
  32  Pan             2.228          1.026          0.860          0              136.999        0              60
  33  Glassbottle     -0.714         0.817          1.103          0              90             0              117
  34  Knife           2.008          0.789          3.632          0              225            0              61
  35  SoapBottle      1.230          1.025          -1.987         0              90             0              60
  36  Egg             -0.782         0.860          1.570          0              90             0              117
  37  Fork            1.787          0.801          1.740          0              317.0          0              75
  38  Potato          -0.968         1.484          -0.516         0              90             0              104
  39  Ladle           2.621          1.066          0.068          0              0              0              60
  40  Tomato          -0.851         0.870          1.337          0              90             0              117
  41  Pot             1.761          1.027          -1.599         0              0              0              103
  42  WineBottle      1.400          0.036          -1.455         0              0              0              60
  43  Plate           -0.984         1.781          1.859          0              0              0              77
  44  Spatula         2.175          0.779          4.447          0              329.999        0              61
  45  PaperTowelRoll  -0.834         0.181          2.748          0              0              0              115
  46  Lettuce         2.451          0.822          4.495          0              0              0              61
  47  Apple           2.578          1.077          0.907          0              136.999        0              60
  48  SaltShaker      2.801          0.760          4.044          0              270            0              61
  49  PepperShaker    2.046          0.760          4.372          0              329.999        0              61
  50  ButterKnife     2.762          0.801          0.118          0              180            0              71
  51  Bread           2.959          1.094          -0.541         0              0              0              60
  52  Cup             2.302          0.763          3.97           0              0              0              61
  53  DishSponge      -0.577         0.816          1.492          0              90             0              117
  54  Bowl            2.475          0.762          4.204          0              225            0              61
  55  Spoon           2.874          0.803          -1.040         0              270            0              60
  56  Mug             1.469          1.021          -1.560         0              90             0              60
  57  Sink            -0.716         1.023          1.333          0              0              0
  58  StoveBurner     1.835          1.018          -1.840         0              90             0
  59  StoveBurner     2.177          1.018          -1.599         0              0              0
  60  CounterTop      2.812          0.992          0.675          0              0              0
  61  DiningTable     2.419          0.003          3.930          0              0              0
  62  Drawer          -0.643         0.828          0.616          0              0              0
  63  CounterTop      -0.813         1.062          2.188          0              0              0
  64  StoveBurner     2.115          1.018          -1.840         0              270            0
  65  Drawer          -0.643         0.831          1.953          0              0              0
  66  Drawer          -0.643         0.833          2.418          0              0              0
  67  Drawer          1.347          0.836          -1.539         0              0              0
  68  Drawer          2.693          0.833          -1.131         0              0              0
  69  Drawer          2.693          0.833          -0.699         0              0              0
  70  Drawer          2.693          0.833          -0.267         0              0              0
  71  Drawer          2.693          0.833          0.163          0              0              0
  72  Drawer          2.524          0.833          0.720          0              2.000          0
  73  Drawer          2.232          0.833          1.036          0              2.000          0
  74  Drawer          1.936          0.833          1.354          0              2.000          0
  75  Drawer          1.646          0.833          1.670          0              2.000          0
  76  Cabinet         1.504          2.475          -1.710         0              0              0
  77  Cabinet         -0.823         2.220          1.621          0              0              0
  78  Cabinet         -0.823         2.220          0.615          0              0              0
  79  Cabinet         1.136          0.388          -1.355         0              0              0
  80  Cabinet         -0.356         0.383          2.626          0              0              0
  81  Cabinet         2.745          2.220          -1.690         0              0              0
  82  Cabinet         1.882          0.383          1.017          0              0              0
  83  Cabinet         1.307          0.473          1.640          0              0              0
  84  Cabinet         1.892          0.383          1.006          0              0              0
  85  Cabinet         2.467          0.383          0.383          0              0              0
  86  Cabinet         2.466          0.383          -0.475         0              0              0
  87  Cabinet         2.466          0.473          0.371          0              0              0
  88  Cabinet         2.386          2.475          -1.710         0              0              0
  89  Cabinet         -0.356         0.383          1.712          0              0              0
  90  Cabinet         2.745          2.220          0.019          0              0              0
  91  Cabinet         -0.663         2.496          0.157          0              0              0
  92  Cabinet         -0.663         2.496          -0.868         0              0              0
  93  Cabinet         -0.356         0.383          0.269          0              0              0
  94  Cabinet         -0.823         2.220          1.603          0              0              0
  95  Cabinet         -0.662         2.234          0.586          0              0              0
  96  Cabinet         2.745          2.220          -0.843         0              0              0
  97  Cabinet         2.745          2.220          -0.827         0              0              0
  98  Cabinet         -0.823         2.220          2.608          0              0              0
  99  Cabinet         2.732          2.226          -1.709         0              0              0
 100  Cabinet         1.137          2.226          -1.709         0              0              0
 101  Cabinet         2.466          0.383          -0.491         0              0              0
 102  Cabinet         2.466          0.383          -1.339         0              0              0
 103  StoveBurner     1.761          1.018          -1.599         0              0              0
 104  Fridge          -0.908         0.0            -0.405         0              0              0
 105  HousePlant      2.517          1.016          1.822          0              0              0
 106  Microwave       1.939          1.745          -1.826         0              0              0
 107  StoveKnob       2.017          1.041          -1.514         0              180            180
 108  StoveKnob       1.934          1.041          -1.514         0              180            180
 109  StoveKnob       2.017          1.041          -1.589         0              180            180
 110  StoveKnob       1.934          1.041          -1.589         0              180            180
 111  Window          1.756          1.608          4.762          90             0              0
 112  HousePlant      2.171          1.004          2.091          0              0              0
 113  CoffeeMachine   -0.942         1.018          0.645          0              90             0
 114  LightSwitch     -0.099         1.410          -2.066         0              0              0
 115  GarbageCan      -0.951         -0.029         2.826          0              0              0
 116  Toaster         -1.007         1.018          2.238          0              90             0
 117  SinkBasin       -0.714         0.805          1.348          0              90             0
 118  Chair           1.615          0.004          4.310          0              107.976        0
 119  Faucet          -1.120         1.013          1.334          0              90             0
 120  Chair           2.759          0.004          3.086          0              358.967        0
 121
 122  NorthWall
 123  EastWall
 124  SouthWall
 125  WestWall

Plan:
STEP 1: Turn left, move past the counter on the left, turn around and face the trash can at the end of the counter. | STEP 2: Pick up the lettuce in the trash.  | STEP 3: Bring the lettuce to the fridge ahead of you, to the right. | STEP 4: Chill lettuce in the fridge. | STEP 5: Bring the chilled lettuce back to the trash can, right of the fridge. | STEP 6: Put the chilled lettuce in the trash.  | END