Task: To clean a slice of lettuce and place it in the trash can.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.75          1.124          -2.0           0              270            0
   1  Potato          1.213          1.350          0.913          0              270            0              81
   2  Potato          -2.049         1.362          2.069          0              0              0              56
   3  DishSponge      -1.884         0.343          0.412          0              0              0              54
   4  DishSponge      -1.530         1.322          1.744          0              0              0              56
   5  WineBottle      0.824          0.345          -2.371         0              180            0              55
   6  Spoon           0.900          0.461          1.054          0              270            0              83
   7  Spoon           -1.660         1.324          1.094          0              0              0              56
   8  Egg             1.095          1.798          1.994          0              270            0              69
   9  Egg             0.636          1.363          -1.683         0              0              0              56
  10  Cup             0.420          1.320          -3.343         0              0              0              56
  11  Cup             -1.401         1.320          0.120          0              0              0              56
  12  Plate           -1.682         0.344          1.420          0              0              0              57
  13  Knife           0.896          1.352          -0.942         0              0              0              56
  14  Knife           -1.660         1.352          2.069          0              0              0              56
  15  Tomato          0.982          1.980          1.847          0              270            0              69
  16  Tomato          0.869          1.558          1.601          0              270            0              69
  17  Bowl            0.977          1.673          1.663          0              270            0              69
  18  Bowl            0.492          1.321          -2.789         0              0              0              56
  19  SaltShaker      -1.614         0.338          0.211          0              0              0              54
  20  SaltShaker      -1.749         0.338          0.311          0              0              0              54
  21  Bread           0.563          1.397          -3.232         0              0              0              56
  22  Bread           -1.790         1.397          -2.201         0              0              0              56
  23  Lettuce         1.155          1.399          -2.424         0              0              0              56
  24  Lettuce         -1.165         1.399          -3.314         0              0              0              56
  25  Mug             -1.530         1.318          1.094          0              0              0              56
  26  Mug             -1.614         0.338          1.213          0              0              0              57
  27  Apple           0.349          1.371          -3.121         0              0              0              56
  28  Bread           -1.530         1.397          -2.721         0              0              0              56
  29  Pot             -0.125         1.332          -2.973         0              0              0              64
  30  Knife           0.715          1.317          -2.202         90             27.324         0              56
  31  Bowl            0.977          1.755          2.112          0              270            0              69
  32  Potato          0.506          1.362          -0.942         0              0              0              56
  33  SoapBottle      -1.952         0.344          0.110          0              0              0              54
  34  Fork            -1.645         0.420          -1.152         0              0              0              62
  35  Cup             -1.094         1.320          -2.981         0              0              0              56
  36  Kettle          -2.049         1.324          -1.941         0              0              0              56
  37  Egg             1.181          1.351          0.810          0              270            0              81
  38  Pan             0.506          1.322          -1.312         0              0              0              56
  39  SaltShaker      1.276          1.202          1.222          0              0              0              81
  40  WineBottle      -1.602         0.344          -2.262         0              0              0              52
  41  Lettuce         0.896          1.399          -2.794         0              0              0              56
  42  Spatula         -2.179         1.337          0.770          0              90             0              56
  43  PaperTowelRoll  1.155          1.427          -2.053         0              0              0              56
  44  Tomato          1.072          1.558          1.477          0              270            0              69
  45  Plate           0.900          0.345          -2.164         0              180            0              55
  46  PepperShaker    -1.730         0.417          -0.495         0              0              0              60
  47  DishSponge      -1.614         0.343          0.512          0              0              0              54
  48  Spoon           0.277          1.324          -2.678         0              0              0              56
  49  Apple           -1.657         0.329          2.151          0              270            0              71
  50  Mug             -1.818         0.338          1.110          0              0              0              57
  51  StoveBurner     -0.239         1.325          -3.301         0              180            0
  52  Cabinet         -1.461         0.775          -2.002         0              0              0
  53  StoveBurner     -0.630         1.325          -3.301         0              180            0
  54  Cabinet         -1.461         0.775          0.470          0              0              0
  55  Cabinet         0.578          0.776          -2.054         0              0              0
  56  CounterTop      -1.809         1.358          1.182          0              0              0
  57  Cabinet         -1.461         0.775          1.310          0              0              0
  58  Faucet          -2.063         1.362          -0.726         0              39.391         0
  59  StoveBurner     -0.749         1.325          -2.973         0              0              0
  60  Drawer          -1.610         0.681          -0.430         0              0              0
  61  Window          -2.566         1.799          -0.822         270            0              0
  62  Drawer          -1.610         0.681          -1.217         0              0              0
  63  Sink            -1.990         1.143          -0.975         0              0              0
  64  StoveBurner     -0.125         1.325          -2.973         0              0              0
  65  StoveKnob       -0.185         1.338          -2.741         0              270            180
  66  StoveKnob       -0.336         1.338          -2.741         0              270            180
  67  StoveKnob       -0.569         1.338          -2.741         0              270            180
  68  StoveKnob       -0.707         1.338          -2.741         0              270            180
  69  Fridge          1.013          0.227          1.917          0              270            0
  70  Microwave       0.994          1.310          -2.163         0              270            0
  71  GarbageCan      -1.633         0.212          2.192          0              270            0
  72  LightSwitch     1.386          1.565          -0.657         0              270            0
  73  HousePlant      -2.027         1.311          -0.026         0              284.058        0
  74  SinkBasin       -1.835         1.039          -0.542         0              0              0
  75  ButterKnife     0.873          0.468          0.651          0              0              0
  76  Toaster         -1.885         1.310          -2.512         0              90             0
  77  CoffeeMachine   1.129          1.310          -1.426         0              270            0
  78  Drawer          0.647          1.061          0.680          0              270            0
  79  Drawer          0.648          1.061          1.020          0              270            0
  80  Drawer          0.648          0.843          1.020          0              270            0
  81  SideTable       0.975          0.220          0.869          0              270            0
  82  Drawer          0.648          0.602          0.680          0              270            0
  83  Drawer          0.648          0.596          1.020          0              270            0
  84  Drawer          0.648          0.843          0.680          0              270            0
  85  Stool           0.606          0.222          -1.084         1.233          280.489        0
  86  NorthWall
  87  EastWall
  88  SouthWall
  89  WestWall

Plan:
STEP 1: Turn right and cross the room and then turn left to face the counter. | STEP 2: Pick up the knife on the counter. | STEP 3: Turn left and cross the room to face the counter. | STEP 4: Cut the lettuce on the counter into slices. | STEP 5: Turn right and look down to face the left most cabinet. | STEP 6: Place the knife in the cabinet all the way to the left under the counter. | STEP 7: Turn left and step forward to face the counter. | STEP 8: Pick up the slice of lettuce on the counter. | STEP 9: Turn to the right and step forward to face the sink. | STEP 10: Wash the slice of lettuce in the sink and then remove it. | STEP 11: Turn right and walk across the room and turn left to face the trash can. | STEP 12: Place the slice of lettuce in the trash can. | END