Task: Cut a slide of lettuce, chill it, and place in recycling bin.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           2.5            0.930          -0.25          0              180            0
   1  Potato          0.356          0.949          0.326          0              0              0              95
   2  DishSponge      -0.827         0.706          0.076          0              0              0              71
   3  ButterKnife     -0.862         0.900          0.399          0              0              0              64
   4  ButterKnife     0.101          0.900          -1.588         0              0              0              85
   5  Glassbottle     3.069          0.748          -0.100         0              90             0              109
   6  Spatula         -0.950         0.721          1.605          0              180            0              57
   7  Spoon           3.07           0.754          0.098          0              90             0              109
   8  Spoon           -0.862         0.901          0.623          0              0              0              64
   9  Fork            1.229          0.908          0.889          0              0              0              95
  10  CellPhone       -0.885         0.897          -0.643         0              45             0              64
  11  CellPhone       -0.030         0.703          -1.352         0              45             0              74
  12  Apple           -1.085         1.071          1.470          0              90             0              112
  13  Lettuce         3.122          0.966          -0.599         0              0              0              63
  14  Lettuce         0.887          0.976          0.827          0              0              0              95
  15  Bowl            3.028          0.172          -0.356         0              0              0              75
  16  SoapBottle      -0.224         1.272          -1.460         0              45             0              81
  17  SoapBottle      3.315          1.473          -1.284         0              0              0              78
  18  Tomato          0.156          0.937          -1.379         0              45             0              85
  19  Egg             -1.052         1.050          1.205          0              90             0              112
  20  Egg             1.242          1.300          -1.448         0              0              0              110
  21  Cup             0.491          0.908          0.181          0              36.810         0              95
  22  Plate           3.102          1.477          -1.235         0              0              0              78
  23  Knife           3.354          0.926          -0.023         0              90             0              63
  24  Knife           0.622          0.933          0.326          0              0              0              95
  25  Plate           3.140          0.190          0.700          0              0              0              73
  26  Glassbottle     1.112          1.675          -1.480         0              0              0              55
  27  SoapBottle      3.279          1.273          -0.822         0              0              0              77
  28  Potato          0.773          0.749          -1.354         0              0              0              110
  29  Fork            -0.141         0.900          -1.491         0              45             0              85
  30  Ladle           3.255          0.212          -0.453         0              90             0              75
  31  Pot             -0.420         0.902          -0.920         0              135            0              59
  32  Kettle          -0.237         0.900          -1.099         0              45             0              93
  33  Spatula         -0.934         0.915          -0.796         0              135            0              64
  34  Knife           -1.008         0.925          -0.047         0              0              0              64
  35  Lettuce         -0.678         0.965          -0.648         0              45             0              64
  36  Cup             -1.085         0.995          1.311          0              90             0              112
  37  SaltShaker      3.315          1.460          -1.186         0              0              0              78
  38  Egg             1.086          0.766          -1.407         0              0              0              110
  39  PepperShaker    3.373          0.897          -0.279         0              0              0              63
  40  ButterKnife     0.533          0.908          0.827          0              0              0              95
  41  Apple           0.022          0.974          -1.588         0              0              0              85
  42  Pan             0.341          0.873          -1.649         0              167.065        0              85
  43  Bread           1.534          0.972          0.486          0              289.287        0              95
  44  CellPhone       3.111          0.710          -0.361         0              180            0              60
  45  DishSponge      0.950          0.910          0.447          0              36.810         0              95
  46  Tomato          3.155          0.137          1.519          0              225            0              105
  47  Spoon           3.028          0.748          0.165          0              180            0              109
  48  Bowl            -0.789         0.897          0.846          0              0              0              64
  49  Mug             2.966          0.895          -0.300         0              0              0              63
  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: Face the door and turn right.  Walk to the other side of the room where the lettuce is sitting on the counter.  Turn right at the lettuce.  Walk to the edge of the counter on the right.  Turn and face the counter on the right. | STEP 2: Grab the knife directly in front.   | STEP 3: Turn right and then turn left.  Walk to the other side of the room where the lettuce is sitting. | STEP 4: Slice the head of lettuce. | STEP 5: Put the knife down on the counter next to the sink. | STEP 6: Pick up a slice of the lettuce. | STEP 7: Turn around and walk to the refrigerator.   | STEP 8: Open the refrigerator door and put the slice of lettuce in the refrigerator next to the egg.  Open the refrigerator door and grab the slice of lettuce.  Close the refrigerator door. | STEP 9: Turn left and walk toward the sink, turn left at the counter and walk to the corner where the recycling bin is sitting. | STEP 10: Put the slice of lettuce in the recycling bin. | END