Task: To wash a lettuce slice and place it in the trash.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.25           1.124          0.75           0              180            0
   1  Pan             -1.920         1.322          0.445          0              0              0              47
   2  DishSponge      0.939          0.952          1.054          0              0              0              70
   3  WineBottle      -1.920         1.323          -2.981         0              0              0              47
   4  Spoon           0.900          0.461          0.983          0              90             0              74
   5  Spoon           0.492          1.324          -2.789         0              0              0              47
   6  Spatula         1.285          1.337          -2.424         0              0              0              47
   7  Egg             1.115          1.351          1.016          0              270            0              72
   8  Egg             1.193          1.248          1.238          0              0              0              72
   9  Cup             1.148          1.307          0.810          0              270            0              72
  10  Plate           -1.681         0.344          0.613          0              0              0              45
  11  Knife           -1.308         1.352          -2.760         0              0              0              47
  12  Knife           -1.737         1.360          -1.117         0              90             0              54
  13  Bowl            -1.789         0.342          -2.362         0              270            0              43
  14  SaltShaker      0.944          1.202          1.254          0              0              0              72
  15  Bread           -2.049         1.397          -2.201         0              0              0              47
  16  Lettuce         0.492          1.399          -3.232         0              0              0              47
  17  Lettuce         -2.049         1.399          1.094          0              0              0              47
  18  Apple           -1.530         1.371          -2.201         0              0              0              47
  19  Bread           -1.513         1.380          0.662          0              0              0              47
  20  Pot             -0.239         1.331          -3.301         0              180            0              42
  21  Knife           0.715          1.317          -2.202         90             27.324         0              47
  22  Bowl            -1.826         1.331          -1.049         0              0              0              54
  23  Potato          0.982          1.985          1.847          0              270            0              60
  24  SoapBottle      1.155          1.323          -2.053         0              0              0              47
  25  Fork            -1.920         1.323          1.419          0              0              0              47
  26  Cup             0.938          1.672          1.722          0              270            0              60
  27  Kettle          -0.630         1.331          -3.301         0              180            0              44
  28  Egg             -1.610         0.321          2.151          0              270            0              62
  29  Pan             -1.401         1.322          1.094          0              0              0              47
  30  SaltShaker      1.110          1.202          1.238          0              0              0              72
  31  WineBottle      -1.660         1.323          -3.241         0              0              0              47
  32  Lettuce         0.766          1.399          -2.053         0              180            0              47
  33  Spatula         0.277          1.337          -3.232         0              180            0              47
  34  PaperTowelRoll  -1.586         0.384          2.275          0              270            0              62
  35  Tomato          -1.954         1.084          -0.587         0              0              0              65
  36  Plate           0.824          0.345          -2.061         0              180            0              46
  37  PepperShaker    -1.687         0.417          -1.348         0              0              0              53
  38  DishSponge      1.025          0.460          0.681          0              0              0              73
  39  Spoon           1.285          1.324          -1.312         0              180            0              47
  40  Apple           -1.401         1.371          -3.241         0              0              0              47
  41  Mug             -1.665         0.338          -2.063         0              0              0              43
  42  StoveBurner     -0.239         1.325          -3.301         0              180            0
  43  Cabinet         -1.461         0.775          -2.002         0              0              0
  44  StoveBurner     -0.630         1.325          -3.301         0              180            0
  45  Cabinet         -1.461         0.775          0.470          0              0              0
  46  Cabinet         0.578          0.776          -2.054         0              0              0
  47  CounterTop      -1.809         1.358          1.182          0              0              0
  48  Cabinet         -1.461         0.775          1.310          0              0              0
  49  Faucet          -2.063         1.362          -0.726         0              39.391         0
  50  StoveBurner     -0.749         1.325          -2.973         0              0              0
  51  Drawer          -1.610         0.681          -0.430         0              0              0
  52  Window          -2.566         1.799          -0.822         270            0              0
  53  Drawer          -1.610         0.681          -1.217         0              0              0
  54  Sink            -1.990         1.143          -0.975         0              0              0
  55  StoveBurner     -0.125         1.325          -2.973         0              0              0
  56  StoveKnob       -0.185         1.338          -2.741         0              270            180
  57  StoveKnob       -0.336         1.338          -2.741         0              270            180
  58  StoveKnob       -0.569         1.338          -2.741         0              270            180
  59  StoveKnob       -0.707         1.338          -2.741         0              270            180
  60  Fridge          1.013          0.227          1.917          0              270            0
  61  Microwave       0.994          1.310          -2.163         0              270            0
  62  GarbageCan      -1.633         0.212          2.192          0              270            0
  63  LightSwitch     1.386          1.565          -0.657         0              270            0
  64  HousePlant      -2.027         1.311          -0.026         0              284.058        0
  65  SinkBasin       -1.835         1.039          -0.542         0              0              0
  66  ButterKnife     0.873          0.468          0.651          0              0              0
  67  Toaster         -1.885         1.310          -2.512         0              90             0
  68  CoffeeMachine   1.129          1.310          -1.426         0              270            0
  69  Drawer          0.647          1.061          0.680          0              270            0
  70  Drawer          0.648          1.061          1.020          0              270            0
  71  Drawer          0.648          0.843          1.020          0              270            0
  72  SideTable       0.975          0.220          0.869          0              270            0
  73  Drawer          0.648          0.602          0.680          0              270            0
  74  Drawer          0.648          0.596          1.020          0              270            0
  75  Drawer          0.648          0.843          0.680          0              270            0
  76  Stool           0.606          0.222          -1.084         1.233          280.489        0
  77  NorthWall
  78  EastWall
  79  SouthWall
  80  WestWall

Plan:
STEP 1: Turn right and walk across the room to face the sink. | STEP 2: Pick up the knife on the left side of the sink. | STEP 3: Turn right and walk forward and turn left to face the lettuce on the counter. | STEP 4: Cut the lettuce on the counter into slices. | STEP 5: Take a step to the left to face the sink. | STEP 6: Place the knife in the right side of the sink. | STEP 7: Take a step to the right to face the lettuce on the counter. | STEP 8: Pick up a slice of lettuce on the counter. | STEP 9: Take a step to the left to face the sink. | STEP 10: Wash the lettuce slice in the sink and remove it. | STEP 11: Turn right and walk forward and turn left to face the trash can on the floor. | STEP 12: Place the lettuce slice in the trash can on the floor. | END