Task: Place a chilled slice of lettuce in the blue bin.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.5            0.930          -0.25          0              180            0
   1  Potato          0.773          0.924          -1.559         0              0              0              110
   2  DishSponge      -0.030         0.705          -1.352         0              45             0              74
   3  ButterKnife     -0.868         0.130          0.664          0              0              0              94
   4  ButterKnife     1.229          0.908          0.038          0              0              0              95
   5  Glassbottle     -0.131         0.901          -1.296         0              45             0              85
   6  Glassbottle     2.888          0.901          -0.499         0              0              0              63
   7  Kettle          -0.419         0.902          -1.269         0              315            0              66
   8  Pot             -0.935         0.900          0.846          0              0              0              64
   9  Spatula         3.152          0.762          0.032          0              0              0              109
  10  Spatula         -1.153         0.915          0.176          0              90             0              64
  11  Spoon           -0.702         0.901          -0.726         0              45             0              64
  12  Fork            -0.090         0.900          -1.440         0              45             0              85
  13  CellPhone       -0.682         0.897          -0.544         0              45             0              64
  14  Mug             0.929          1.242          -1.531         0              90             0              110
  15  Apple           1.242          0.959          -1.503         0              0              0              110
  16  Bread           0.798          0.989          0.627          0              0              0              95
  17  Bowl            3.140          0.174          0.559          0              0              0              73
  18  SoapBottle      1.098          0.920          0.322          0              0              0              95
  19  SoapBottle      -0.115         1.272          -1.519         0              45             0              81
  20  Tomato          0.101          0.937          -1.731         0              0              0              85
  21  Cup             0.356          0.908          0.326          0              0              0              95
  22  Cup             3.198          0.173          -0.501         0              0              0              75
  23  Plate           0.719          0.923          0.254          0              36.810         0              95
  24  Knife           3.200          0.926          -0.698         0              0              0              63
  25  Plate           3.102          1.477          -1.235         0              0              0              78
  26  Glassbottle     3.044          1.465          -1.550         0              0              0              62
  27  SoapBottle      -0.871         1.267          -0.858         0              45             0              83
  28  Potato          1.006          0.949          0.405          0              36.810         0              95
  29  Fork            -0.991         0.326          -0.098         0              90             0              69
  30  Ladle           2.988          0.749          -0.361         0              270            0              60
  31  Pot             1.098          0.908          0.605          0              270            0              95
  32  Kettle          -0.600         0.902          -1.090         0              135            0              53
  33  Spatula         -0.053         0.915          -1.682         0              135            0              85
  34  Knife           -0.789         0.925          0.399          0              90             0              64
  35  Lettuce         0.445          0.973          0.527          0              0              0              95
  36  Cup             -1.085         0.995          1.417          0              90             0              112
  37  SaltShaker      0.101          0.896          -1.373         0              0              0              85
  38  Egg             -0.048         0.952          -1.584         0              45             0              85
  39  PepperShaker    -0.909         0.127          0.401          0              0              0              65
  40  ButterKnife     -0.935         0.900          0.399          0              0              0              64
  41  Apple           1.086          0.959          -1.475         0              0              0              110
  42  Pan             0.341          0.873          -1.649         0              167.065        0              85
  43  Bread           -0.862         0.979          -0.047         0              0              0              64
  44  CellPhone       -0.717         0.897          -0.270         0              0              0              64
  45  DishSponge      3.208          0.100          1.519          0              225            0              105
  46  Tomato          1.008          0.750          -1.407         0              0              0              110
  47  Spoon           0.533          0.912          0.627          0              0              0              95
  48  Bowl            2.971          0.172          -0.453         0              0              0              75
  49  Mug             -1.052         0.992          1.311          0              270            0              112
  50  Drawer          0.376          0.572          -1.509         0              0              0
  51  Drawer          3.020          0.769          -0.783         0              180            0
  52  Drawer          -0.860         0.577          1.429          0              0              0
  53  StoveBurner     -0.600         0.897          -1.090         0              135            0
  54  Drawer          0.376          0.191          -1.509         0              0              0
  55  Cabinet         1.402          1.874          -1.259         0              0              0
  56  Cabinet         -0.202         1.963          -1.328         0              0              0
  57  Drawer          -0.860         0.765          1.429          0              0              0
  58  Drawer          -0.677         0.765          -0.700         0              0              0
  59  StoveBurner     -0.420         0.897          -0.920         0              135            0
  60  Drawer          3.020          0.769          -0.407         0              180            0
  61  Drawer          -0.860         0.577          0.663          0              0              0
  62  Cabinet         2.819          1.768          -1.850         0              0              0
  63  CounterTop      3.111          0.936          0.019          0              0              0
  64  CounterTop      -1.007         0.935          -0.039         0              0              0
  65  Drawer          -0.860         0.385          0.663          0              0              0
  66  StoveBurner     -0.419         0.897          -1.269         0              315            0
  67  Drawer          -0.047         0.573          -1.324         0              0              0
  68  Drawer          -0.860         0.765          0.663          0              0              0
  69  Drawer          -0.860         0.385          -0.100         0              0              0
  70  Drawer          0.376          0.380          -1.509         0              0              0
  71  Drawer          -0.860         0.765          -0.100         0              0              0
  72  Drawer          0.376          0.765          -1.509         0              0              0
  73  Cabinet         2.849          0.419          0.409          0              0              0
  74  Drawer          -0.047         0.765          -1.324         0              0              0
  75  Cabinet         2.849          0.419          -0.610         0              0              0
  76  Cabinet         2.849          0.419          -0.959         0              0              0
  77  Cabinet         3.069          1.666          -0.709         0              0              0
  78  Cabinet         2.819          1.768          -1.047         0              0              0
  79  Cabinet         0.620          1.874          -1.259         0              0              0
  80  Cabinet         0.140          1.666          -1.559         0              0              0
  81  Cabinet         -0.189         1.666          -1.340         0              0              0
  82  Cabinet         -0.709         1.963          -0.819         0              0              0
  83  Cabinet         -0.920         1.665          -0.620         0              0              0
  84  Drawer          -0.860         0.190          -0.100         0              0              0
  85  CounterTop      0.133          0.935          -1.457         0              0              0
  86  Drawer          3.020          0.769          0.695          0              180            0
  87  Drawer          -0.677         0.577          -0.700         0              0              0
  88  Drawer          -0.860         0.190          1.429          0              0              0
  89  Drawer          -0.047         0.192          -1.324         0              0              0
  90  Drawer          -0.677         0.193          -0.700         0              0              0
  91  Drawer          -0.860         0.577          -0.100         0              0              0
  92  Sink            3.078          0.887          0.086          0              0              0
  93  StoveBurner     -0.239         0.897          -1.089         0              315            0
  94  Drawer          -0.860         0.190          0.663          0              0              0
  95  CounterTop      1.210          0.937          0.463          0              0              0
  96  Drawer          -0.047         0.381          -1.324         0              0              0
  97  Drawer          -0.677         0.387          -0.700         0              0              0
  98  Mirror          -1.295         1.630          0.045          0              0              0
  99  Drawer          -0.860         0.385          1.429          0              0              0
 100  HousePlant      3.196          0.891          -0.368         0              0              0
 101  StoveKnob       -0.090         0.790          -1.009         270            45             0
 102  StoveKnob       -0.280         0.790          -0.819         270            45             0
 103  StoveKnob       -0.180         0.790          -0.920         270            45             0
 104  StoveKnob       -0.370         0.790          -0.720         270            45             0
 105  GarbageCan      3.137          0.025          1.545          0              225            0
 106  Window          3.703          1.675          0.046          90             90             0
 107  CoffeeMachine   3.214          0.890          0.697          0              270            0
 108  LightSwitch     2.592          1.309          -1.880         0              0              0
 109  SinkBasin       3.069          0.736          0.108          0              90             0
 110  Fridge          1.008          0.029          -1.467         0              0              0
 111  Toaster         -1.035         0.873          -0.396         0              90             0
 112  Microwave       -1.034         0.874          1.428          0              90             0
 113  Faucet          3.305          0.886          0.094          270            180            0
 114  NorthWall
 115  EastWall
 116  SouthWall
 117  WestWall

Plan:
STEP 1: Turn left, move to the counter right of the sink. | STEP 2: Pick up the knife from the counter. | STEP 3: Turn left, move to the island, near the lettuce. | STEP 4: Slice the lettuce on the island. | STEP 5: Turn right, move to the front of the refrigerator. | STEP 6: Put the knife in the refrigerator. | STEP 7: Turn right, move to the island, near the lettuce. | STEP 8: Pick up a slice of lettuce from the island. | STEP 9: Turn right, move to the front of the refrigerator. | STEP 10: Put the slice of lettuce in the refrigerator, chill it, pick it back up. | STEP 11: Turn left, move to the end of the counter at the blue bin. | STEP 12: Put the slice of lettuce in the blue bin. | END