Task: Dispose of a lettuce slice after slicing and rinsing it off

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -3.75          0.900          -1.75          0              90             0
   1  Pan             1.077          0.950          -1.098         0              0              0              64
   2  Pan             0.905          1.132          1.063          0              180            0              85
   3  Potato          0.966          1.432          1.063          0              270            0              85
   4  CreditCard      -1.229         0.930          -0.905         0              0              0              62
   5  CellPhone       -0.624         0.930          0.239          0              90             0              62
   6  CellPhone       0.834          0.492          -0.648         0              270            0              66
   7  DishSponge      1.039          2.207          -1.299         0              270            0              69
   8  DishSponge      1.082          2.207          -1.626         0              270            0              69
   9  ButterKnife     -0.698         0.933          0.162          0              0              0              62
  10  ButterKnife     0.773          0.911          -0.729         0              0              0              63
  11  Fork            0.944          0.911          -0.555         0              90             0              63
  12  Fork            0.874          0.154          -0.650         0              0              0              65
  13  Spatula         0.915          0.509          -0.565         0              0              0              66
  14  Spatula         -0.642         0.791          -0.573         0              0              0              83
  15  Egg             -1.054         0.216          0.641          0              180            0              82
  16  Egg             1.087          1.439          1.063          0              270            0              85
  17  Cup             0.905          1.640          0.967          0              270            0              85
  18  Tomato          -0.808         0.821          -0.832         0              90             0              83
  19  SoapBottle      -0.772         0.933          0.239          0              0              0              62
  20  Bowl            -1.363         0.557          2.667          0              0              0              88
  21  Bowl            1.056          1.669          -0.337         0              270            0              71
  22  SaltShaker      0.956          0.490          -0.690         0              270            0              66
  23  PepperShaker    -1.571         0.878          2.692          0              0              0              89
  24  Lettuce         1.029          0.988          0.139          0              0              0              63
  25  Bread           -1.355         1.014          -0.118         0              0              0              62
  26  Mug             1.087          1.396          1.540          0              270            0              85
  27  Apple           -0.550         0.983          -0.143         0              0              0              62
  28  Statue          0.773          0.914          -0.034         0              0              0              63
  29  Glassbottle     -1.778         0.554          2.615          0              0              0              88
  30  Bread           -1.229         1.014          -0.905         0              0              0              62
  31  CreditCard      -1.981         0.878          2.692          0              0              0              89
  32  CellPhone       -1.041         0.930          -1.430         0              0              0              62
  33  Potato          0.783          1.673          1.349          0              270            0              85
  34  Knife           -0.550         0.957          -1.463         0              0              0              62
  35  Fork            -0.698         0.934          -1.154         0              0              0              62
  36  Pan             0.842          0.950          -1.504         0              0              0              59
  37  Lettuce         0.905          0.940          1.063          0              270            0              85
  38  Plate           0.773          0.914          -0.555         0              0              0              63
  39  Apple           -0.865         0.227          0.543          0              180            0              82
  40  Pot             -1.221         0.92           -0.49          0              0              0              62
  41  Spatula         1.029          0.926          -0.381         0              0              0              63
  42  PaperTowelRoll  1.029          1.015          -0.555         0              0              0              63
  43  Tomato          0.905          1.683          1.540          0              270            0              85
  44  Egg             -0.642         0.818          -0.659         0              90             0              83
  45  SaltShaker      -1.467         0.550          2.874          0              0              0              88
  46  PepperShaker    1.199          0.907          0.313          0              0              0              63
  47  Vase            1.055          1.666          0.216          0              270            0              70
  48  ButterKnife     0.773          0.911          0.139          0              0              0              63
  49  SoapBottle      0.944          0.911          -0.729         0              0              0              63
  50  Vase            -0.846         0.934          -1.386         0              0              0              62
  51  Bowl            1.212          2.211          -1.191         0              270            0              69
  52  DishSponge      -0.642         0.780          -0.832         0              90             0              83
  53  Spoon           1.029          0.912          -0.208         0              0              0              63
  54  Cup             -1.167         0.930          0.144          0              0              0              62
  55  Mug             0.688          0.906          -1.879         0              0              0              68
  56  StoveBurner     0.842          0.919          -1.098         0              0              0
  57  Cabinet         0.648          0.474          0.244          0              270            0
  58  StoveBurner     1.077          0.919          -1.504         0              0              0
  59  StoveBurner     0.842          0.919          -1.504         0              0              0
  60  Drawer          0.637          0.755          -0.649         0              270            0
  61  Cabinet         0.949          2.159          -2.375         0              270            0
  62  CounterTop      -1.238         0.968          -0.643         0              0              0
  63  CounterTop      0.931          0.946          -0.208         0              0              0
  64  StoveBurner     1.077          0.919          -1.098         0              0              0
  65  Drawer          0.637          0.268          -0.649         0              270            0
  66  Drawer          0.637          0.547          -0.649         0              270            0
  67  Cabinet         0.648          0.475          -1.714         0              0              0
  68  CounterTop      0.931          0.946          -2.051         0              0              0
  69  Cabinet         0.948          2.439          -1.780         0              270            0
  70  Cabinet         0.948          2.159          -0.140         0              270            0
  71  Cabinet         0.949          2.159          -0.758         0              270            0
  72  Sink            -0.699         0.927          -0.649         0              0              0
  73  LightSwitch     -2.371         1.218          3.049          0              180            0
  74  StoveKnob       0.673          0.899          -1.373         315            90             180
  75  StoveKnob       0.673          0.899          -1.519         315            90             180
  76  StoveKnob       0.673          0.899          -1.086         315            90             180
  77  StoveKnob       0.673          0.899          -1.237         315            90             180
  78  Toaster         0.984          0.900          0.329          0              270            0
  79  Window          0.014          0.998          -2.640         90             0              0
  80  Window          -2.996         0.998          -2.640         90             0              0
  81  CoffeeMachine   0.892          0.900          -2.132         0              300.130        0
  82  GarbageCan      -0.946         -0.036         0.575          0              180            0
  83  SinkBasin       -0.698         0.765          -0.647         0              90             0
  84  Microwave       1.042          1.680          -1.295         0              270            0
  85  Fridge          0.966          0.0            1.253          0              0              0
  86  HousePlant      -1.354         0.919          -1.540         0              0              0
  87  Shelf           -1.635         0.172          2.715          0              180            0
  88  Shelf           -1.635         0.552          2.715          0              180            0
  89  Shelf           -1.635         0.880          2.715          0              180            0
  90  ShelvingUnit    -1.635         0.006          2.715          0              180            0
  91  Chair           -1.832         0.002          -0.034         0              119.999        0
  92  Chair           -1.854         0.002          -0.956         0              67.887         0
  93  Faucet          -0.867         1.161          -0.651         0              0              0
  94  NorthWall
  95  EastWall
  96  SouthWall
  97  WestWall

Plan:
STEP 1: Walk straight around the kitchen island then turn left and walk straight slightly and turn left to face the counter | STEP 2: Pick up the butter knife from the counter right of the sink | STEP 3: Turn around and face the kitchen counter | STEP 4: Slice the lettuce head on the counter | STEP 5: Turn right and walk slightly forward then turn to the left and face the counter | STEP 6: Place the knife on the kitchen counter | STEP 7: Turn left walk straight slightly then turn right and face to the counter | STEP 8: Pick up a slice of lettuce from the counter | STEP 9: Turn right and walk slightly forward then turn to the right and face the sink | STEP 10: Place the lettuce slice in the sink and rinse with water then remove from the sink | STEP 11: Turn right and walk straight then turn left and walk forward slightly and face to the left at the black trash bin | STEP 12: Place the lettuce slice in the trash bin | END