Task: Put a clean slice of lettuce in a trash bin.

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: Go forward along the windows to the right, turn left after passing the kitchen island, go forward, turn left to face the counter to the right of the sink on the kitchen island. | STEP 2: Take the knife from the counter. | STEP 3: Turn around, go forward to the counter with the toaster. | STEP 4: Cut the lettuce on the counter into slices. | STEP 5: Take a step to the right, face the counter. | STEP 6: Put the knife on the counter to the right of the statue. | STEP 7: Take a step to the left, face the counter. | STEP 8: Take a slice of lettuce from the counter. | STEP 9: Turn around, go left and forward to the sink. | STEP 10: Wash the lettuce in the sink. Take the lettuce from the sink. | STEP 11: Turn right go forward, at the fridge turn left, go forward, turn left to face the black trash bin. | STEP 12: Put the lettuce in the trash bin. | END