Task: Put cold lettuce in a garbage can.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.5           0.900          -0.75          0              90             0
   1  DishSponge      -2.638         1.537          0.702          0              0              0              69
   2  DishSponge      -2.638         1.537          2.129          0              0              0              57
   3  ButterKnife     1.512          0.911          0.494          0              0              0              54
   4  Kettle          1.691          0.929          -0.335         0              0              0              53
   5  Kettle          -2.538         0.911          0.931          0              0              0              73
   6  Fork            -2.372         0.911          1.530          0              0              0              73
   7  Fork            -2.379         0.774          1.322          0              90             0              76
   8  Spoon           1.570          0.912          -0.868         0              45             0              55
   9  Spoon           -0.211         0.912          1.094          0              0              0              45
  10  Spatula         -2.227         0.788          0.343          0              90             0              62
  11  Spatula         -0.341         0.925          0.870          0              0              0              45
  12  Cup             -2.455         0.908          0.031          0              0              0              73
  13  Cup             -0.601         0.908          1.764          0              0              0              45
  14  Plate           -0.341         0.913          1.317          0              0              0              45
  15  Plate           -0.211         0.913          1.764          0              0              0              45
  16  Tomato          1.855          0.953          -0.726         0              0              0              55
  17  PepperShaker    -2.484         1.578          -1.485         0              180            0              72
  18  Mug             -2.241         0.109          0.334          0              0              0              70
  19  Mug             0.464          0.955          -1.593         0              0              0              55
  20  Apple           -2.206         0.972          0.631          0              0              0              73
  21  Apple           -2.538         0.972          1.230          0              0              0              73
  22  Pan             0.0            0.9            0.948          0              29.999         0              45
  23  Knife           -0.471         0.936          1.540          0              0              0              45
  24  Apple           -2.393         1.150          -0.885         0              90             0              77
  25  Bowl            -2.439         1.297          -0.885         0              90             0              77
  26  Fork            -0.471         0.911          1.764          0              0              0              45
  27  Bread           -0.601         0.996          0.647          0              0              0              45
  28  Plate           1.407          0.921          -1.185         0              225            0              59
  29  Egg             1.294          0.949          -1.018         0              225            0              59
  30  Kettle          1.771          1.657          0.239          0              0              0              64
  31  Potato          -2.559         0.631          -1.051         0              90             0              77
  32  SaltShaker      -2.685         1.532          0.125          0              0              0              68
  33  Lettuce         -0.601         0.994          0.423          0              0              0              45
  34  Cup             -2.599         1.535          0.846          0              0              0              69
  35  SoapBottle      -2.289         0.912          0.931          0              0              0              73
  36  Spatula         -2.318         0.788          0.534          0              270            0              62
  37  PaperTowelRoll  0.999          1.015          -1.758         0              45             0              55
  38  ButterKnife     -2.621         0.910          0.631          0              0              0              73
  39  PepperShaker    1.881          0.905          -0.897         0              0              0              55
  40  DishSponge      1.698          1.663          -0.263         0              0              0              65
  41  Pot             1.691          0.929          0.064          0              0              0              56
  42  Spoon           -2.196         0.775          0.809          0              90             0              50
  43  Tomato          1.604          0.227          0.679          0              0              0              84
  44  Mug             -2.578         1.295          -0.602         0              180            0              77
  45  CounterTop      -0.360         0.946          1.093          0              0              0
  46  StoveBurner     1.412          0.923          -0.335         0              0              0
  47  StoveKnob       1.878          1.093          0.018          287.989        90             0
  48  StoveKnob       1.878          1.093          -0.306         287.989        90             0
  49  Cabinet         -2.446         1.948          2.924          0              0              0
  50  Drawer          -2.276         0.792          0.902          0              0              0
  51  Cabinet         -2.145         0.402          1.578          0              0              0
  52  Cabinet         0.149          2.008          -1.603         0              90             0
  53  StoveBurner     1.691          0.923          -0.335         0              0              0
  54  CounterTop      1.585          0.946          0.405          0              0              0
  55  CounterTop      0.474          0.946          -1.625         0              0              0
  56  StoveBurner     1.691          0.923          0.064          0              0              0
  57  Cabinet         -2.446         1.948          1.687          0              0              0
  58  Cabinet         -2.446         1.948          1.640          0              0              0
  59  Sink            1.381          0.810          -1.271         0              225            0
  60  StoveKnob       1.878          1.093          0.150          287.989        90             0
  61  Cabinet         -2.145         0.402          -0.236         0              0              0
  62  Drawer          -2.276         0.792          0.437          0              0              0
  63  Drawer          -2.276         0.792          -0.027         0              0              0
  64  Cabinet         1.572          2.008          0.474          0              0              0
  65  Cabinet         1.572          2.008          -0.775         0              0              0
  66  Cabinet         -2.445         2.148          -1.275         0              0              0
  67  Cabinet         -2.446         2.148          -0.284         0              0              0
  68  Cabinet         -2.446         1.948          0.355          0              0              0
  69  Cabinet         -2.446         1.948          0.405          0              0              0
  70  Cabinet         -2.145         0.402          0.644          0              0              0
  71  Cabinet         -2.145         0.402          0.695          0              0              0
  72  Cabinet         -2.285         1.968          -1.325         0              180            0
  73  CounterTop      -1.485         0.946          1.319          0              0              0
  74  StoveBurner     1.411          0.923          0.064          0              0              0
  75  StoveKnob       1.878          1.093          -0.441         287.989        90             0
  76  Drawer          -2.276         0.792          1.368          0              0              0
  77  Fridge          -2.475         0.0            -0.782         0              90             0
  78  LightSwitch     -0.929         1.350          -1.950         0              0              0
  79  Toaster         -2.564         0.900          1.876          0              90             0
  80  CoffeeMachine   0.464          0.900          -1.810         0              0              0
  81  Window          1.508          1.534          -1.496         90             135            0
  82  Window          1.973          1.521          1.121          90             90             0
  83  SinkBasin       1.149          0.753          -1.380         0              225            0
  84  GarbageCan      1.646          -0.000         0.679          0              0              0
  85  Microwave       -2.580         0.900          2.440          0              90             0
  86  Stool           0.439          0.010          0.747          0              0              0
  87  Stool           -2.303         0.010          1.839          0              0              0
  88  Faucet          1.235          1.138          -1.473         0              225            0
  89  NorthWall
  90  EastWall
  91  SouthWall
  92  WestWall

Plan:
STEP 1: Go forward to the counter, hang a left, go to the counter that is left of the stove. | STEP 2: Pick up the butter knife that is on the counter.  | STEP 3: Go to the right towards the dishwasher, hang a right and go to the fridge, hang a right and go to the counter where the bread and lettuce are on the right.  | STEP 4: Use the knife to cut the lettuce into slices.  | STEP 5: Turn to the right and go forward, then turn right and go to the fridge.  | STEP 6: Open the freezer, put the knife in the freezer, close the freezer.  | STEP 7: Turn to the right, go forward, turn to the right and go to the counter where the bread and lettuce are.  | STEP 8: Pick a slice of lettuce up off the counter.  | STEP 9: Turn to the right, go forward, then turn right and go to the fridge.  | STEP 10: Put the lettuce in the fridge to get cold, close the door, remove the cold lettuce from the fridge, close the fridge. | STEP 11: Turn around, go to the stove, hang a left, go forward to the garbage can on the right | STEP 12: Put the lettuce in the garbage can. | END