Task: Put a clean slice of lettuce in the garbage 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 go to the counter with the microwave on top. | STEP 2: Pick up the knife between the microwave and the paper towels. | STEP 3: Move over to your right so that you are in front of the counter to the right of the microwave.  | STEP 4: Cut the head of lettuce on the back of the counter into slices.  | STEP 5: Turn to your left and go to the sink on the left side of the dishwasher.  | STEP 6: Place the knife in the right sink, to the left of the spatula.  | STEP 7: Turn to your right and go back to the counter on the right side of the microwave, where the lettuce is.  | STEP 8: Pick up a slice of lettuce from the counter.  | STEP 9: Turn to your left and go back to the sink on the left of the dishwasher.  | STEP 10: Put the slice of lettuce in the right sink, between the knife and the potato, turn the water on, rinse the potato, turn the water off, and remove the slice of lettuce from the sink.  | STEP 11: Turn to your left and walk across the kitchen until you reach the black garbage can, to your right, and to the left of the refrigerator.  | STEP 12: Place the slice of lettuce on the Put the slice of lettuce in the garbage can.  | END