Task: Place a cold lettuce slice in a waste basket

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           0.900          1.0            0              270            0
   1  Vase            1.193          1.667          0.025          0              270            0              69
   2  Potato          -1.355         0.963          -0.118         0              0              0              61
   3  Potato          0.995          1.825          -1.339         0              270            0              83
   4  CreditCard      0.944          0.908          -1.879         0              0              0              67
   5  CreditCard      0.754          0.491          -0.565         0              270            0              65
   6  ButterKnife     -1.292         0.933          -0.380         0              0              0              61
   7  Glassbottle     1.126          2.208          -1.517         0              270            0              68
   8  Glassbottle     1.055          1.667          -2.029         0              270            0              60
   9  Fork            0.794          0.702          -0.690         0              180            0              59
  10  Spoon           0.834          0.496          -0.607         0              270            0              65
  11  Spatula         -0.920         0.948          -1.386         0              90             0              61
  12  Spatula         -0.624         0.948          -1.231         0              0              0              61
  13  Knife           0.859          0.934          -0.729         0              0              0              62
  14  Knife           -1.104         0.957          -1.167         0              90             0              61
  15  Egg             -1.054         0.214          0.641          0              180            0              81
  16  Egg             -1.041         0.971          -1.430         0              0              0              61
  17  Tomato          1.026          1.683          1.158          0              270            0              84
  18  Tomato          1.029          0.952          -1.793         0              0              0              67
  19  SoapBottle      -0.550         0.933          -1.154         0              0              0              61
  20  SoapBottle      1.199          0.911          -1.793         0              0              0              67
  21  SaltShaker      1.114          0.907          -0.208         0              0              0              62
  22  PepperShaker    -1.674         0.878          2.746          0              0              0              88
  23  PepperShaker    1.193          1.662          0.280          0              270            0              69
  24  Bread           0.966          1.482          1.349          0              270            0              84
  25  Apple           -0.808         0.830          -0.400         0              90             0              82
  26  Apple           0.995          1.845          -1.132         0              270            0              83
  27  Statue          -1.292         0.936          -0.643         0              0              0              61
  28  Glassbottle     0.688          0.912          -2.051         0              0              0              67
  29  Bread           -0.779         0.996          0.21           0              258.641        0              61
  30  CreditCard      -1.355         0.930          -1.167         0              0              0              61
  31  CellPhone       1.199          0.908          0.139          0              0              0              62
  32  Potato          1.026          1.165          1.063          0              270            0              84
  33  Knife           0.859          0.934          -0.207         0              180            0              62
  34  Fork            -1.290         0.921          -1.287         0              0              0              61
  35  Pan             0.848          0.946          -1.080         0              0              0              55
  36  Lettuce         0.859          0.988          0.139          0              0              0              62
  37  Plate           -1.355         0.936          -0.905         0              0              0              61
  38  Apple           -0.587         0.830          -0.400         0              90             0              82
  39  Pot             1.077          0.950          -1.504         0              0              0              57
  40  Spatula         0.915          0.510          -0.524         0              0              0              65
  41  PaperTowelRoll  -0.960         0.281          0.543          0              180            0              81
  42  Tomato          1.026          1.683          1.444          0              270            0              84
  43  Egg             0.844          0.900          1.254          0              270            0              84
  44  SaltShaker      -1.469         0.878          2.719          0              0              0              88
  45  PepperShaker    -1.881         0.550          2.667          0              0              0              87
  46  Vase            1.148          1.666          -0.337         0              270            0              70
  47  ButterKnife     1.114          0.911          -0.034         0              180            0              62
  48  SoapBottle      -0.550         0.933          0.239          0              0              0              61
  49  Vase            1.126          2.209          -1.191         0              270            0              68
  50  Bowl            1.199          0.914          -0.381         0              0              0              62
  51  DishSponge      0.773          0.910          -1.879         0              0              0              67
  52  Spoon           0.793          0.154          -0.611         0              270            0              64
  53  Cup             0.905          1.132          1.349          0              270            0              84
  54  Mug             0.903          0.942          -2.110         0              300.131        0              80
  55  StoveBurner     0.842          0.919          -1.098         0              0              0
  56  Cabinet         0.648          0.474          0.244          0              270            0
  57  StoveBurner     1.077          0.919          -1.504         0              0              0
  58  StoveBurner     0.842          0.919          -1.504         0              0              0
  59  Drawer          0.637          0.755          -0.649         0              270            0
  60  Cabinet         0.949          2.159          -2.375         0              270            0
  61  CounterTop      -1.238         0.968          -0.643         0              0              0
  62  CounterTop      0.931          0.946          -0.208         0              0              0
  63  StoveBurner     1.077          0.919          -1.098         0              0              0
  64  Drawer          0.637          0.268          -0.649         0              270            0
  65  Drawer          0.637          0.547          -0.649         0              270            0
  66  Cabinet         0.648          0.475          -1.714         0              0              0
  67  CounterTop      0.931          0.946          -2.051         0              0              0
  68  Cabinet         0.948          2.439          -1.780         0              270            0
  69  Cabinet         0.948          2.159          -0.140         0              270            0
  70  Cabinet         0.949          2.159          -0.758         0              270            0
  71  Sink            -0.699         0.927          -0.649         0              0              0
  72  LightSwitch     -2.371         1.218          3.049          0              180            0
  73  StoveKnob       0.673          0.899          -1.373         315            90             180
  74  StoveKnob       0.673          0.899          -1.519         315            90             180
  75  StoveKnob       0.673          0.899          -1.086         315            90             180
  76  StoveKnob       0.673          0.899          -1.237         315            90             180
  77  Toaster         0.984          0.900          0.329          0              270            0
  78  Window          0.014          0.998          -2.640         90             0              0
  79  Window          -2.996         0.998          -2.640         90             0              0
  80  CoffeeMachine   0.892          0.900          -2.132         0              300.130        0
  81  GarbageCan      -0.946         -0.036         0.575          0              180            0
  82  SinkBasin       -0.698         0.765          -0.647         0              90             0
  83  Microwave       1.042          1.680          -1.295         0              270            0
  84  Fridge          0.966          0.0            1.253          0              0              0
  85  HousePlant      -1.354         0.919          -1.540         0              0              0
  86  Shelf           -1.635         0.172          2.715          0              180            0
  87  Shelf           -1.635         0.552          2.715          0              180            0
  88  Shelf           -1.635         0.880          2.715          0              180            0
  89  ShelvingUnit    -1.635         0.006          2.715          0              180            0
  90  Chair           -1.832         0.002          -0.034         0              119.999        0
  91  Chair           -1.854         0.002          -0.956         0              67.887         0
  92  Faucet          -0.867         1.161          -0.651         0              0              0
  93  NorthWall
  94  EastWall
  95  SouthWall
  96  WestWall

Plan:
STEP 1: turn to the left twice and go to the front of the refrigerator and turn to the right and take a few steps and turn to the left and go to the counter | STEP 2: pick up the left yellow handle knife from the counter top | STEP 3: turn to the left and take a few steps and turn to the right facing the counter | STEP 4: slice up the head of lettuce with the knife on the counter | STEP 5: turn to the right and take a few steps and turn to the left facing the counter | STEP 6: put the knife on the counter top | STEP 7: turn to the left and take a few steps and turn to the right facing the counter | STEP 8: pick up a slice of lettuce from the counter top | STEP 9: turn to the left twice and take a step and turn to the right and take a few steps and turn to the right facing the refrigerator | STEP 10: open the refrigerator door and put the lettuce slice on the middle shelf and close the door and wait and open the door and take out the lettuce slice and close the refrigerator door | STEP 11: turn to the right twice and go to the front of the waste basket and turn to the left and go to the waste basket | STEP 12: put the lettuce slice in the waste basket | END