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           -0.25          0.900          1.0            0              90             0
   1  Potato          1.387          0.925          1.983          0              90             0              83
   2  DishSponge      1.540          2.206          4.219          0              0              0              51
   3  DishSponge      1.182          0.771          4.790          0              0              0              50
   4  ButterKnife     0.167          0.760          6.151          0              135            0              96
   5  Kettle          1.32           0.988          3.848          0              0              0              59
   6  Pot             1.562          0.988          3.848          0              0              0              54
   7  Spoon           -0.611         0.993          0.486          0              0              0              60
   8  Spoon           -0.574         0.761          6.240          0              225            0              96
   9  Spatula         0.150          0.775          6.666          0              0              0              96
  10  Fork            -0.621         0.760          6.416          0              90             0              96
  11  Fork            1.404          0.772          3.291          0              0              0              53
  12  Egg             2.094          1.565          5.626          0              270            0              82
  13  Egg             0.696          1.042          0.120          0              0              0              60
  14  Cup             2.009          1.511          6.001          0              270            0              82
  15  Knife           -0.079         0.801          0.563          0              270            0              57
  16  Tomato          -0.621         0.809          6.666          0              270            0              96
  17  SoapBottle      1.404          2.207          4.131          0              0              0              48
  18  Bowl            1.543          1.576          1.166          0              0              0              70
  19  Bowl            1.490          0.139          3.217          0              0              0              71
  20  PepperShaker    0.192          0.755          6.565          0              225            0              96
  21  Lettuce         0.212          0.848          6.196          0              135            0              96
  22  Mug             1.571          0.136          4.647          0              0              0              62
  23  Apple           2.137          1.590          6.001          0              270            0              82
  24  Apple           0.273          1.171          0.310          0              0              0              76
  25  Bowl            1.493          0.991          0.213          0              0              0              60
  26  Bread           -0.221         0.829          6.787          0              0              0              96
  27  Egg             0.305          0.810          6.666          0              270            0              96
  28  Knife           -0.421         0.789          6.305          0              225            0              96
  29  Fork            0.871          0.772          0.563          0              0              0              52
  30  Apple           1.966          1.590          5.251          0              270            0              82
  31  Kettle          1.559          0.988          4.294          0              0              0              58
  32  Plate           1.322          0.141          2.794          0              0              0              72
  33  SaltShaker      0.028          0.755          6.787          0              0              0              96
  34  Lettuce         0.169          0.848          6.807          0              225            0              96
  35  SoapBottle      0.262          0.144          0.353          0              0              0              69
  36  Spatula         1.332          0.905          2.137          0              180            0              83
  37  PaperTowelRoll  1.135          1.096          4.853          0              0              0              61
  38  Pot             1.317          0.988          4.294          0              0              0              55
  39  Potato          -0.467         0.794          6.541          0              270            0              96
  40  ButterKnife     1.493          0.992          3.324          0              0              0              60
  41  PepperShaker    -0.611         0.987          0.212          0              0              0              60
  42  Pan             1.313          0.985          4.284          0              0              0              55
  43  Tomato          0.305          0.809          6.541          0              270            0              96
  44  DishSponge      1.348          0.771          3.360          0              0              0              53
  45  Cup             2.009          1.511          5.376          0              270            0              82
  46  Spoon           0.847          0.993          0.486          0              180            0              60
  47  Mug             -0.074         1.574          0.295          0              0              0              73
  48  Cabinet         1.307          2.455          4.360          0              0              0
  49  Cabinet         1.054          0.422          1.710          0              0              0
  50  Drawer          1.280          0.808          4.718          0              0              0
  51  Cabinet         1.307          2.455          3.607          0              0              0
  52  Drawer          0.736          0.802          0.521          0              0              0
  53  Drawer          1.276          0.802          3.291          0              0              0
  54  StoveBurner     1.562          0.982          3.848          0              0              0
  55  StoveBurner     1.317          0.982          4.294          0              0              0
  56  Drawer          -0.482         0.802          0.521          0              0              0
  57  Drawer          0.124          0.802          0.521          0              0              0
  58  StoveBurner     1.559          0.982          4.294          0              0              0
  59  StoveBurner     1.320          0.982          3.848          0              0              0
  60  CounterTop      1.391          1.028          0.897          0              0              0
  61  CounterTop      1.391          1.028          4.716          0              0              0
  62  Cabinet         1.054          0.422          4.548          0              0              0
  63  Cabinet         1.317          2.134          0.517          0              0              0
  64  Cabinet         1.317          2.134          4.889          0              0              0
  65  Cabinet         1.317          2.134          3.095          0              0              0
  66  Cabinet         0.443          0.422          0.743          0              0              0
  67  Cabinet         1.270          2.134          0.434          0              0              0
  68  Cabinet         -0.775         0.422          0.743          0              0              0
  69  Cabinet         -0.168         0.422          0.743          0              0              0
  70  Cabinet         1.317          2.134          1.534          0              0              0
  71  Cabinet         1.054          0.422          2.990          0              0              0
  72  Cabinet         1.054          0.422          2.944          0              0              0
  73  Cabinet         -0.263         2.134          0.434          0              0              0
  74  Cabinet         0.252          2.134          0.434          0              0              0
  75  Sink            1.391          1.006          2.326          0              0              0
  76  Microwave       0.108          0.981          0.262          0              0              0
  77  HousePlant      -0.165         0.826          6.444          0              0              0
  78  CoffeeMachine   1.551          0.982          0.953          0              270            0
  79  Toaster         1.473          0.981          4.715          0              270            0
  80  Window          -2.065         1.916          3.626          90             90             0
  81  Window          1.763          2.007          2.299          90             270            0
  82  Fridge          2.035          0.0            5.625          0              0              0
  83  SinkBasin       1.387          0.880          2.338          0              90             0
  84  GarbageCan      2.001          -0.044         6.503          0              0              0
  85  StoveKnob       1.140          0.934          3.987          45             270            0
  86  StoveKnob       1.140          0.934          4.309          45             270            0
  87  StoveKnob       1.140          0.934          4.140          45             270            0
  88  StoveKnob       1.140          0.934          3.824          45             270            0
  89  Vase            -0.226         0.834          6.993          0              0              0
  90  Vase            2.098          0.043          7.070          0              257.232        0
  91  Vase            -0.594         0.835          6.130          0              225            0
  92  LightSwitch     -2.0           1.549          6.045          0              90             0
  93  Safe            2.046          1.072          7.054          0              257.232        0
  94  Faucet          1.534          1.025          2.371          0              294.391        0
  95  Blinds          1.738          2.563          2.312          0              90             0
  96  DiningTable     -0.156         0.000          6.474          0              0              0
  97  Chair           0.291          0.002          6.142          0              310.162        0
  98  GarbageBag      -1.092         0.318          0.268          270            90             83.492
  99  NorthWall
 100  EastWall
 101  SouthWall
 102  WestWall

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