Task: To wash a slice of lettuce as well as put 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           0.900          3.0            0              0              0
   1  Potato          2.137          1.550          5.626          0              270            0              77
   2  DishSponge      1.442          0.890          2.474          0              90             0              78
   3  Kettle          1.456          1.578          1.288          0              0              0              65
   4  Kettle          1.317          0.988          4.294          0              0              0              50
   5  Spatula         1.332          0.905          2.085          0              180            0              78
   6  Fork            -0.034         0.760          6.478          0              0              0              91
   7  Fork            0.600          0.772          0.619          0              270            0              47
   8  Plate           0.055          0.144          0.506          0              0              0              64
   9  Knife           0.544          1.022          0.303          0              90             0              55
  10  Knife           -0.685         0.802          0.563          0              270            0              51
  11  Tomato          2.094          1.565          5.251          0              270            0              77
  12  Tomato          0.039          0.809          6.500          0              225            0              91
  13  PepperShaker    0.622          1.574          0.207          0              0              0              69
  14  PepperShaker    0.544          0.987          0.120          0              0              0              55
  15  SaltShaker      0.059          0.755          6.698          0              225            0              91
  16  Mug             1.384          1.043          0.847          0              270            0              55
  17  Mug             1.135          0.987          4.670          0              0              0              56
  18  Apple           -0.459         1.067          0.486          0              0              0              55
  19  Apple           1.966          1.590          5.626          0              270            0              77
  20  Bowl            0.847          0.991          0.578          0              0              0              55
  21  Bread           1.099          1.048          0.434          0              0              0              55
  22  Egg             2.055          0.130          6.498          0              0              0              79
  23  Knife           -0.413         0.801          0.451          0              90             0              51
  24  Fork            1.225          0.993          0.895          0              0              0              55
  25  Apple           1.956          0.155          6.439          0              0              0              79
  26  Kettle          1.079          1.580          0.251          0              0              0              62
  27  Plate           -0.552         0.144          0.353          0              0              0              63
  28  SaltShaker      -0.159         0.755          6.787          0              0              0              91
  29  Lettuce         -0.611         1.081          0.212          0              0              0              55
  30  SoapBottle      0.897          1.579          0.339          0              180            0              62
  31  Spatula         -0.308         1.007          0.120          0              90             0              55
  32  PaperTowelRoll  0.620          1.096          0.395          0              0              0              55
  33  Pot             1.32           0.988          3.848          0              0              0              54
  34  Potato          1.332          0.925          1.983          0              90             0              78
  35  ButterKnife     1.292          0.771          3.223          0              0              0              48
  36  PepperShaker    0.192          0.755          6.565          0              225            0              91
  37  Pan             1.313          0.985          4.284          0              0              0              50
  38  Tomato          -0.034         0.809          6.014          0              0              0              91
  39  DishSponge      -0.575         0.759          6.719          0              135            0              91
  40  Cup             2.137          1.511          6.001          0              270            0              77
  41  Spoon           1.238          0.772          4.717          0              0              0              45
  42  Mug             2.051          1.510          5.876          0              270            0              77
  43  Cabinet         1.307          2.455          4.360          0              0              0
  44  Cabinet         1.054          0.422          1.710          0              0              0
  45  Drawer          1.280          0.808          4.718          0              0              0
  46  Cabinet         1.307          2.455          3.607          0              0              0
  47  Drawer          0.736          0.802          0.521          0              0              0
  48  Drawer          1.276          0.802          3.291          0              0              0
  49  StoveBurner     1.562          0.982          3.848          0              0              0
  50  StoveBurner     1.317          0.982          4.294          0              0              0
  51  Drawer          -0.482         0.802          0.521          0              0              0
  52  Drawer          0.124          0.802          0.521          0              0              0
  53  StoveBurner     1.559          0.982          4.294          0              0              0
  54  StoveBurner     1.320          0.982          3.848          0              0              0
  55  CounterTop      1.391          1.028          0.897          0              0              0
  56  CounterTop      1.391          1.028          4.716          0              0              0
  57  Cabinet         1.054          0.422          4.548          0              0              0
  58  Cabinet         1.317          2.134          0.517          0              0              0
  59  Cabinet         1.317          2.134          4.889          0              0              0
  60  Cabinet         1.317          2.134          3.095          0              0              0
  61  Cabinet         0.443          0.422          0.743          0              0              0
  62  Cabinet         1.270          2.134          0.434          0              0              0
  63  Cabinet         -0.775         0.422          0.743          0              0              0
  64  Cabinet         -0.168         0.422          0.743          0              0              0
  65  Cabinet         1.317          2.134          1.534          0              0              0
  66  Cabinet         1.054          0.422          2.990          0              0              0
  67  Cabinet         1.054          0.422          2.944          0              0              0
  68  Cabinet         -0.263         2.134          0.434          0              0              0
  69  Cabinet         0.252          2.134          0.434          0              0              0
  70  Sink            1.391          1.006          2.326          0              0              0
  71  Microwave       0.108          0.981          0.262          0              0              0
  72  HousePlant      -0.165         0.826          6.444          0              0              0
  73  CoffeeMachine   1.551          0.982          0.953          0              270            0
  74  Toaster         1.473          0.981          4.715          0              270            0
  75  Window          -2.065         1.916          3.626          90             90             0
  76  Window          1.763          2.007          2.299          90             270            0
  77  Fridge          2.035          0.0            5.625          0              0              0
  78  SinkBasin       1.387          0.880          2.338          0              90             0
  79  GarbageCan      2.001          -0.044         6.503          0              0              0
  80  StoveKnob       1.140          0.934          3.987          45             270            0
  81  StoveKnob       1.140          0.934          4.309          45             270            0
  82  StoveKnob       1.140          0.934          4.140          45             270            0
  83  StoveKnob       1.140          0.934          3.824          45             270            0
  84  Vase            -0.226         0.834          6.993          0              0              0
  85  Vase            2.098          0.043          7.070          0              257.232        0
  86  Vase            -0.594         0.835          6.130          0              225            0
  87  LightSwitch     -2.0           1.549          6.045          0              90             0
  88  Safe            2.046          1.072          7.054          0              257.232        0
  89  Faucet          1.534          1.025          2.371          0              294.391        0
  90  Blinds          1.738          2.563          2.312          0              90             0
  91  DiningTable     -0.156         0.000          6.474          0              0              0
  92  Chair           0.291          0.002          6.142          0              310.162        0
  93  GarbageBag      -1.092         0.318          0.268          270            90             83.492
  94  NorthWall
  95  EastWall
  96  SouthWall
  97  WestWall

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