Task: Put a cold slice of lettuce in the garbage bin.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -2.75          0.900          1.0            0              180            0
   1  Potato          -0.587         0.807          -0.659         0              90             0              78
   2  Potato          1.199          0.941          -0.729         0              0              0              58
   3  CellPhone       -1.041         0.930          0.144          0              0              0              57
   4  CellPhone       -1.467         0.550          2.667          0              0              0              83
   5  DishSponge      0.688          0.910          -1.793         0              0              0              63
   6  Fork            -0.772         0.934          0.239          0              0              0              57
   7  Spoon           0.834          0.704          -0.648         0              270            0              55
   8  Spoon           0.793          0.154          -0.611         0              270            0              60
   9  Knife           -0.550         0.957          -0.143         0              0              0              57
  10  Cup             0.905          1.399          1.254          0              270            0              80
  11  Plate           0.905          0.866          1.063          0              270            0              80
  12  Plate           1.102          1.669          -0.593         0              270            0              66
  13  Tomato          0.944          0.952          -1.793         0              0              0              63
  14  Tomato          -0.846         0.974          -1.618         0              0              0              57
  15  SaltShaker      1.194          1.662          -1.893         0              270            0              56
  16  PepperShaker    0.794          0.699          -0.565         0              270            0              55
  17  Lettuce         1.114          0.988          0.139          0              0              0              58
  18  Bread           0.944          0.992          -0.381         0              0              0              58
  19  Bread           1.026          1.216          1.349          0              270            0              80
  20  Mug             1.194          1.661          -2.097         0              270            0              56
  21  Mug             0.903          0.942          -2.110         0              300.131        0              76
  22  Apple           -0.920         0.983          -1.308         0              0              0              57
  23  Statue          -1.816         0.871          2.754          0              180            0              57
  24  Glassbottle     1.082          2.208          -0.973         0              270            0              64
  25  Bread           -0.624         1.014          -1.308         0              0              0              57
  26  CreditCard      0.688          0.908          0.313          0              0              0              58
  27  CellPhone       -1.571         0.878          2.719          0              0              0              84
  28  Potato          0.995          1.825          -1.132         0              270            0              79
  29  Knife           1.029          0.934          -0.381         0              180            0              58
  30  Fork            0.859          0.911          -0.729         0              0              0              58
  31  Pan             0.842          0.950          -1.098         0              0              0              51
  32  Lettuce         0.859          0.988          0.139          0              0              0              58
  33  Plate           -0.753         0.783          -0.659         0              90             0              78
  34  Apple           -0.960         0.229          0.543          0              180            0              77
  35  Pot             1.077          0.950          -1.504         0              0              0              53
  36  Spatula         -0.587         0.795          -0.400         0              0              0              78
  37  PaperTowelRoll  -1.985         0.658          2.615          0              0              0              83
  38  Tomato          1.026          1.175          1.540          0              270            0              80
  39  Egg             1.087          1.439          1.063          0              270            0              80
  40  SaltShaker      0.760          0.117          0.325          0              270            0              58
  41  PepperShaker    0.688          0.907          -2.308         0              0              0              63
  42  Vase            -0.550         0.933          0.162          0              0              0              57
  43  ButterKnife     1.029          0.911          -0.034         0              0              0              58
  44  SoapBottle      0.688          0.911          -0.555         0              0              0              58
  45  Vase            -1.985         0.555          2.822          0              0              0              83
  46  Bowl            1.193          1.669          0.280          0              270            0              65
  47  DishSponge      0.688          0.910          -1.965         0              0              0              63
  48  Spoon           -1.229         0.934          -0.118         0              0              0              57
  49  Cup             1.026          1.399          1.444          0              270            0              80
  50  Mug             1.026          1.396          1.349          0              270            0              80
  51  StoveBurner     0.842          0.919          -1.098         0              0              0
  52  Cabinet         0.648          0.474          0.244          0              270            0
  53  StoveBurner     1.077          0.919          -1.504         0              0              0
  54  StoveBurner     0.842          0.919          -1.504         0              0              0
  55  Drawer          0.637          0.755          -0.649         0              270            0
  56  Cabinet         0.949          2.159          -2.375         0              270            0
  57  CounterTop      -1.238         0.968          -0.643         0              0              0
  58  CounterTop      0.931          0.946          -0.208         0              0              0
  59  StoveBurner     1.077          0.919          -1.098         0              0              0
  60  Drawer          0.637          0.268          -0.649         0              270            0
  61  Drawer          0.637          0.547          -0.649         0              270            0
  62  Cabinet         0.648          0.475          -1.714         0              0              0
  63  CounterTop      0.931          0.946          -2.051         0              0              0
  64  Cabinet         0.948          2.439          -1.780         0              270            0
  65  Cabinet         0.948          2.159          -0.140         0              270            0
  66  Cabinet         0.949          2.159          -0.758         0              270            0
  67  Sink            -0.699         0.927          -0.649         0              0              0
  68  LightSwitch     -2.371         1.218          3.049          0              180            0
  69  StoveKnob       0.673          0.899          -1.373         315            90             180
  70  StoveKnob       0.673          0.899          -1.519         315            90             180
  71  StoveKnob       0.673          0.899          -1.086         315            90             180
  72  StoveKnob       0.673          0.899          -1.237         315            90             180
  73  Toaster         0.984          0.900          0.329          0              270            0
  74  Window          0.014          0.998          -2.640         90             0              0
  75  Window          -2.996         0.998          -2.640         90             0              0
  76  CoffeeMachine   0.892          0.900          -2.132         0              300.130        0
  77  GarbageCan      -0.946         -0.036         0.575          0              180            0
  78  SinkBasin       -0.698         0.765          -0.647         0              90             0
  79  Microwave       1.042          1.680          -1.295         0              270            0
  80  Fridge          0.966          0.0            1.253          0              0              0
  81  HousePlant      -1.354         0.919          -1.540         0              0              0
  82  Shelf           -1.635         0.172          2.715          0              180            0
  83  Shelf           -1.635         0.552          2.715          0              180            0
  84  Shelf           -1.635         0.880          2.715          0              180            0
  85  ShelvingUnit    -1.635         0.006          2.715          0              180            0
  86  Chair           -1.832         0.002          -0.034         0              119.999        0
  87  Chair           -1.854         0.002          -0.956         0              67.887         0
  88  Faucet          -0.867         1.161          -0.651         0              0              0
  89  NorthWall
  90  EastWall
  91  SouthWall
  92  WestWall

Plan:
STEP 1: Turn to your left and go to the refrigerator, then turn right and go to the counter top just past the refrigerator, on your left.  | STEP 2: Pick up the butter knife between the bread and the lettuce, on the counter top.  | STEP 3: Move over to the left side of the counter.  | STEP 4: Cut the head of lettuce closest to you, into slices.  | STEP 5: Move back over to the right side of the counter top.  | STEP 6: Place the knife back on the counter top, between the lettuce and the bread.  | STEP 7: Move back over to the left side of the counter top.  | STEP 8: Pick up on of the lettuce slices.  | STEP 9: Go to the refrigerator to your left.  | STEP 10: Place the slice of lettuce to the right of the plate, on the second shelf of the refrigerator, wait a moment for the lettuce to chill, then remove the lettuce from the refrigerator.  | STEP 11: Turn around and go to the garbage bin on the floor, next to the kitchen island.  | STEP 12: Place the lettuce in the garbage bin on the floor.  | END