Task: put a chilled slice of lettuce in to the recycle can

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           2.25           0.930          0.0            0              0              0
   1  Potato          3.07           0.791          0.098          0              90             0              105
   2  Potato          -1.052         1.036          1.258          0              90             0              108
   3  Ladle           0.665          1.711          -1.619         0              90             0              75
   4  DishSponge      0.445          0.910          0.627          0              0              0              91
   5  DishSponge      0.904          1.674          -1.480         0              0              0              75
   6  ButterKnife     -1.008         0.900          0.176          0              0              0              60
   7  Glassbottle     0.304          1.260          -1.741         0              0              0              76
   8  Glassbottle     0.775          0.908          0.213          0              36.810         0              91
   9  Spoon           -0.868         0.707          -0.011         0              0              0              67
  10  Spoon           0.101          0.901          -1.373         0              0              0              81
  11  Apple           0.839          0.984          0.530          0              36.810         0              91
  12  Apple           -0.756         0.974          -0.672         0              45             0              60
  13  PepperShaker    2.847          0.897          0.104          0              0              0              59
  14  SoapBottle      3.246          1.273          -0.790         0              0              0              73
  15  SoapBottle      3.173          1.473          -1.382         0              0              0              74
  16  Tomato          -0.935         0.937          0.176          0              0              0              60
  17  Egg             3.277          0.953          -0.798         0              0              0              59
  18  Cup             3.084          0.173          -0.404         0              0              0              71
  19  Plate           3.028          0.188          -0.786         0              0              0              72
  20  Knife           0.967          0.933          0.322          0              0              0              91
  21  Plate           0.550          0.921          0.259          0              36.810         0              91
  22  Glassbottle     -0.182         1.264          -1.502         0              45             0              77
  23  SoapBottle      3.113          1.473          -1.697         0              0              0              58
  24  Potato          0.716          0.946          0.135          0              36.810         0              91
  25  Fork            0.258          0.900          -1.445         0              180            0              81
  26  Ladle           -0.868         0.743          1.605          0              0              0              53
  27  Pot             -0.420         0.902          -0.920         0              135            0              55
  28  Kettle          -0.419         0.902          -1.269         0              315            0              62
  29  Spatula         -0.789         0.915          0.176          0              90             0              60
  30  Knife           -0.885         0.925          -0.643         0              135            0              60
  31  Lettuce         1.098          0.973          0.038          0              0              0              91
  32  Cup             -1.085         0.995          1.470          0              90             0              108
  33  SaltShaker      -0.717         0.896          0.623          0              0              0              64
  34  Egg             -1.119         1.050          1.364          0              90             0              108
  35  PepperShaker    -0.745         0.703          1.255          0              0              0              53
  36  ButterKnife     0.151          0.900          -1.476         0              135            0              81
  37  Apple           -1.008         0.974          0.623          0              0              0              60
  38  Pan             0.710          0.910          0.827          0              0              0              91
  39  Bread           -0.862         0.979          0.846          0              0              0              60
  40  CellPhone       1.064          0.905          0.483          0              36.810         0              91
  41  DishSponge      1.208          1.674          -1.689         0              0              0              51
  42  Tomato          3.128          0.137          1.546          0              225            0              101
  43  Spoon           -0.827         0.707          -0.273         0              0              0              67
  44  Bowl            1.160          1.671          -1.410         0              0              0              51
  45  Mug             3.049          0.966          0.591          0              270            0              103
  46  Drawer          0.376          0.572          -1.509         0              0              0
  47  Drawer          3.020          0.769          -0.783         0              180            0
  48  Drawer          -0.860         0.577          1.429          0              0              0
  49  StoveBurner     -0.600         0.897          -1.090         0              135            0
  50  Drawer          0.376          0.191          -1.509         0              0              0
  51  Cabinet         1.402          1.874          -1.259         0              0              0
  52  Cabinet         -0.202         1.963          -1.328         0              0              0
  53  Drawer          -0.860         0.765          1.429          0              0              0
  54  Drawer          -0.677         0.765          -0.700         0              0              0
  55  StoveBurner     -0.420         0.897          -0.920         0              135            0
  56  Drawer          3.020          0.769          -0.407         0              180            0
  57  Drawer          -0.860         0.577          0.663          0              0              0
  58  Cabinet         2.819          1.768          -1.850         0              0              0
  59  CounterTop      3.111          0.936          0.019          0              0              0
  60  CounterTop      -1.007         0.935          -0.039         0              0              0
  61  Drawer          -0.860         0.385          0.663          0              0              0
  62  StoveBurner     -0.419         0.897          -1.269         0              315            0
  63  Drawer          -0.047         0.573          -1.324         0              0              0
  64  Drawer          -0.860         0.765          0.663          0              0              0
  65  Drawer          -0.860         0.385          -0.100         0              0              0
  66  Drawer          0.376          0.380          -1.509         0              0              0
  67  Drawer          -0.860         0.765          -0.100         0              0              0
  68  Drawer          0.376          0.765          -1.509         0              0              0
  69  Cabinet         2.849          0.419          0.409          0              0              0
  70  Drawer          -0.047         0.765          -1.324         0              0              0
  71  Cabinet         2.849          0.419          -0.610         0              0              0
  72  Cabinet         2.849          0.419          -0.959         0              0              0
  73  Cabinet         3.069          1.666          -0.709         0              0              0
  74  Cabinet         2.819          1.768          -1.047         0              0              0
  75  Cabinet         0.620          1.874          -1.259         0              0              0
  76  Cabinet         0.140          1.666          -1.559         0              0              0
  77  Cabinet         -0.189         1.666          -1.340         0              0              0
  78  Cabinet         -0.709         1.963          -0.819         0              0              0
  79  Cabinet         -0.920         1.665          -0.620         0              0              0
  80  Drawer          -0.860         0.190          -0.100         0              0              0
  81  CounterTop      0.133          0.935          -1.457         0              0              0
  82  Drawer          3.020          0.769          0.695          0              180            0
  83  Drawer          -0.677         0.577          -0.700         0              0              0
  84  Drawer          -0.860         0.190          1.429          0              0              0
  85  Drawer          -0.047         0.192          -1.324         0              0              0
  86  Drawer          -0.677         0.193          -0.700         0              0              0
  87  Drawer          -0.860         0.577          -0.100         0              0              0
  88  Sink            3.078          0.887          0.086          0              0              0
  89  StoveBurner     -0.239         0.897          -1.089         0              315            0
  90  Drawer          -0.860         0.190          0.663          0              0              0
  91  CounterTop      1.210          0.937          0.463          0              0              0
  92  Drawer          -0.047         0.381          -1.324         0              0              0
  93  Drawer          -0.677         0.387          -0.700         0              0              0
  94  Mirror          -1.295         1.630          0.045          0              0              0
  95  Drawer          -0.860         0.385          1.429          0              0              0
  96  HousePlant      3.196          0.891          -0.368         0              0              0
  97  StoveKnob       -0.090         0.790          -1.009         270            45             0
  98  StoveKnob       -0.280         0.790          -0.819         270            45             0
  99  StoveKnob       -0.180         0.790          -0.920         270            45             0
 100  StoveKnob       -0.370         0.790          -0.720         270            45             0
 101  GarbageCan      3.137          0.025          1.545          0              225            0
 102  Window          3.703          1.675          0.046          90             90             0
 103  CoffeeMachine   3.214          0.890          0.697          0              270            0
 104  LightSwitch     2.592          1.309          -1.880         0              0              0
 105  SinkBasin       3.069          0.736          0.108          0              90             0
 106  Fridge          1.008          0.029          -1.467         0              0              0
 107  Toaster         -1.035         0.873          -0.396         0              90             0
 108  Microwave       -1.034         0.874          1.428          0              90             0
 109  Faucet          3.305          0.886          0.094          270            180            0
 110  NorthWall
 111  EastWall
 112  SouthWall
 113  WestWall

Plan:
STEP 1: turn to the left and move around the kitchen island to where the head of lettuce is sitting on the counter to the right, turn to face the counter | STEP 2: pick up the sharp knife with the yellow handle from the counter | STEP 3: move slightly away from the counter | STEP 4: slice the head of lettuce that is on the counter with the knife | STEP 5: turn around to face the fridge | STEP 6: open the fridge, put the knife on to the bottom shelf and close the door | STEP 7: turn around and face the kitchen island | STEP 8: pick up the end slice of lettuce from the counter | STEP 9: turn around to face the fridge | STEP 10: open the fridge door, put the lettuce slice into the fridge to the left of the knife, close the door for seven seconds, open the door and remove the lettuce slice, close the door | STEP 11: turn to the left and go around the counter and move forward to the blue recycle can on the right in the corner, turn to face the can | STEP 12: put the slice of lettuce in to the blue recycle can | END