Task: Wash a slice of lettuce 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           0.25           1.124          2.0            0              270            0
   1  Potato          0.920          1.564          1.539          0              270            0              64
   2  DishSponge      -1.308         1.322          -2.870         0              0              0              51
   3  DishSponge      -1.730         0.422          -1.348         0              0              0              57
   4  WineBottle      -1.665         0.344          -2.063         0              0              0              47
   5  WineBottle      0.277          1.323          -2.678         0              0              0              51
   6  Fork            -1.165         1.323          -2.760         0              0              0              51
   7  Spoon           0.492          1.324          -2.900         0              0              0              51
   8  Spatula         0.636          1.337          -2.424         0              0              0              51
   9  Spatula         -1.915         1.350          -1.255         0              0              0              58
  10  Cup             -2.049         1.320          -2.981         0              0              0              51
  11  Plate           -1.681         0.344          0.613          0              0              0              49
  12  Knife           -1.915         1.365          -0.980         0              0              0              58
  13  SoapBottle      -1.522         1.323          -3.314         0              0              0              51
  14  SoapBottle      -1.586         0.280          2.151          0              270            0              66
  15  SaltShaker      0.944          1.202          1.254          0              0              0              76
  16  SaltShaker      0.778          1.202          1.254          0              0              0              76
  17  PepperShaker    -1.681         0.338          0.412          0              0              0              49
  18  PepperShaker    1.193          1.202          1.222          0              0              0              76
  19  Lettuce         -2.049         1.399          -1.681         0              0              0              51
  20  Lettuce         0.492          1.399          -3.232         0              0              0              51
  21  Mug             0.965          1.371          -1.534         0              270            0              72
  22  Mug             0.900          0.339          -1.751         0              180            0              50
  23  Bread           -1.513         1.380          0.662          0              0              0              51
  24  Pot             -0.749         1.332          -2.973         0              0              0              54
  25  Knife           -1.737         1.358          -0.911         0              180            0              58
  26  Bowl            -1.790         1.321          -2.201         0              0              0              51
  27  Potato          1.056          1.796          2.348          0              270            0              64
  28  SoapBottle      -1.886         0.344          1.213          0              0              0              52
  29  Fork            0.636          1.323          -2.053         0              0              0              51
  30  Cup             -2.049         1.320          2.069          0              0              0              51
  31  Kettle          -1.886         0.344          1.523          0              0              0              52
  32  Egg             1.027          1.248          1.222          0              0              0              76
  33  Pan             -1.530         1.322          2.069          0              0              0              51
  34  SaltShaker      -1.401         1.318          -2.721         0              0              0              51
  35  WineBottle      0.563          1.323          -3.011         0              0              0              51
  36  Lettuce         -1.790         1.399          -1.941         0              0              0              51
  37  Spatula         -1.730         0.435          -0.298         0              270            0              55
  38  PaperTowelRoll  -1.530         1.427          -2.461         0              0              0              51
  39  Tomato          -2.004         1.370          -0.911         0              0              0              58
  40  Plate           0.976          0.345          -1.957         0              180            0              50
  41  PepperShaker    -1.884         0.338          0.412          0              0              0              49
  42  DishSponge      -1.790         1.322          1.094          0              0              0              51
  43  Spoon           -1.698         1.052          -0.587         0              0              0              69
  44  Apple           0.938          1.724          1.781          0              270            0              64
  45  Mug             1.213          1.305          0.913          0              270            0              76
  46  StoveBurner     -0.239         1.325          -3.301         0              180            0
  47  Cabinet         -1.461         0.775          -2.002         0              0              0
  48  StoveBurner     -0.630         1.325          -3.301         0              180            0
  49  Cabinet         -1.461         0.775          0.470          0              0              0
  50  Cabinet         0.578          0.776          -2.054         0              0              0
  51  CounterTop      -1.809         1.358          1.182          0              0              0
  52  Cabinet         -1.461         0.775          1.310          0              0              0
  53  Faucet          -2.063         1.362          -0.726         0              39.391         0
  54  StoveBurner     -0.749         1.325          -2.973         0              0              0
  55  Drawer          -1.610         0.681          -0.430         0              0              0
  56  Window          -2.566         1.799          -0.822         270            0              0
  57  Drawer          -1.610         0.681          -1.217         0              0              0
  58  Sink            -1.990         1.143          -0.975         0              0              0
  59  StoveBurner     -0.125         1.325          -2.973         0              0              0
  60  StoveKnob       -0.185         1.338          -2.741         0              270            180
  61  StoveKnob       -0.336         1.338          -2.741         0              270            180
  62  StoveKnob       -0.569         1.338          -2.741         0              270            180
  63  StoveKnob       -0.707         1.338          -2.741         0              270            180
  64  Fridge          1.013          0.227          1.917          0              270            0
  65  Microwave       0.994          1.310          -2.163         0              270            0
  66  GarbageCan      -1.633         0.212          2.192          0              270            0
  67  LightSwitch     1.386          1.565          -0.657         0              270            0
  68  HousePlant      -2.027         1.311          -0.026         0              284.058        0
  69  SinkBasin       -1.835         1.039          -0.542         0              0              0
  70  ButterKnife     0.873          0.468          0.651          0              0              0
  71  Toaster         -1.885         1.310          -2.512         0              90             0
  72  CoffeeMachine   1.129          1.310          -1.426         0              270            0
  73  Drawer          0.647          1.061          0.680          0              270            0
  74  Drawer          0.648          1.061          1.020          0              270            0
  75  Drawer          0.648          0.843          1.020          0              270            0
  76  SideTable       0.975          0.220          0.869          0              270            0
  77  Drawer          0.648          0.602          0.680          0              270            0
  78  Drawer          0.648          0.596          1.020          0              270            0
  79  Drawer          0.648          0.843          0.680          0              270            0
  80  Stool           0.606          0.222          -1.084         1.233          280.489        0
  81  NorthWall
  82  EastWall
  83  SouthWall
  84  WestWall

Plan:
STEP 1: Turn left and walk forward to the stool, then turn right and go to the kitchen side of the sink. | STEP 2: Pick up the knife to the left of the tomato. | STEP 3: Turn left, step forward, then turn right to  see heads of lettuce on the counter. | STEP 4: Slice the lettuce in the back of the counter. | STEP 5: Turn right and return to the kitchen sink. | STEP 6: Place the knife in the sink. | STEP 7: Turn left and go to the sliced lettuce. | STEP 8: Take the left piece of the sliced lettuce. | STEP 9: Turn right and walk to the kitchen sink on the left. | STEP 10: Place the slice of lettuce to the left of the knife. Turn on the water for a few seconds then turn off and pick up the lettuce. | STEP 11: Turn right and go to the end of the hall, then turn left to see a recycling bin below the counter. | STEP 12: Place the lettuce in the recycling bin. | END