Task: To wash 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           -0.75          0.900          2.0            0              270            0
   1  Pan             -0.550         0.931          0.239          0              0              0              55
   2  Statue          -1.229         0.936          0.144          0              0              0              55
   3  Knife           0.773          0.934          -0.555         0              90             0              56
   4  Egg             1.199          0.949          -1.793         0              0              0              61
   5  Plate           1.126          2.211          -1.517         0              270            0              62
   6  Tomato          0.773          0.952          -1.879         0              0              0              61
   7  SoapBottle      1.199          0.911          -0.729         0              0              0              56
   8  SoapBottle      -1.054         0.179          0.576          0              180            0              75
   9  Bowl            1.194          1.669          -0.337         0              270            0              64
  10  SaltShaker      1.029          0.907          -0.555         0              0              0              56
  11  SaltShaker      -1.467         0.550          2.718          0              0              0              81
  12  PepperShaker    0.713          0.699          -0.607         0              270            0              53
  13  PepperShaker    1.010          0.104          -2.132         0              0              0              60
  14  Lettuce         0.773          0.988          0.139          0              0              0              56
  15  Lettuce         0.905          1.479          1.349          0              270            0              78
  16  Lettuce         0.688          0.988          -0.729         0              0              0              56
  17  Bread           1.026          1.482          1.063          0              270            0              78
  18  Bread           1.026          1.216          1.254          0              270            0              78
  19  Apple           1.028          1.845          -1.339         0              270            0              77
  20  Apple           -0.642         0.826          -0.745         0              90             0              76
  21  Statue          -1.355         0.936          -0.118         0              0              0              55
  22  Glassbottle     -1.363         0.554          2.718          0              0              0              81
  23  Bread           1.029          0.992          -0.381         0              0              0              56
  24  CreditCard      0.833          0.150          -0.690         0              270            0              58
  25  CellPhone       0.688          0.908          -0.729         0              0              0              56
  26  Potato          1.126          1.825          -1.132         0              270            0              77
  27  Knife           1.199          0.934          0.139          0              270            0              56
  28  Fork            1.114          0.911          -0.034         0              0              0              56
  29  Pan             0.848          0.946          -1.080         0              0              0              49
  30  Lettuce         0.966          0.940          1.254          0              270            0              78
  31  Plate           1.126          2.211          -1.191         0              270            0              62
  32  Apple           1.199          0.961          0.313          0              0              0              56
  33  Pot             1.077          0.950          -1.504         0              0              0              51
  34  Spatula         -0.808         0.791          -0.486         0              180            0              76
  35  PaperTowelRoll  -1.363         0.658          2.874          0              0              0              81
  36  Tomato          1.026          1.683          1.254          0              270            0              78
  37  Egg             -0.818         0.216          0.510          0              180            0              75
  38  SaltShaker      -0.920         0.929          0.162          0              0              0              55
  39  PepperShaker    0.794          0.698          -0.524         0              270            0              53
  40  Vase            -1.571         0.881          2.719          0              0              0              82
  41  ButterKnife     -0.772         0.933          0.009          0              0              0              55
  42  SoapBottle      -0.912         0.177          0.608          0              180            0              75
  43  Vase            -0.846         0.934          -1.308         0              0              0              55
  44  Bowl            0.944          0.914          0.139          0              0              0              56
  45  DishSponge      1.240          1.665          -2.029         0              270            0              54
  46  Spoon           -0.846         0.934          -0.143         0              0              0              55
  47  Cup             1.199          0.908          -0.208         0              0              0              56
  48  Mug             1.114          0.906          -1.793         0              0              0              61
  49  StoveBurner     0.842          0.919          -1.098         0              0              0
  50  Cabinet         0.648          0.474          0.244          0              270            0
  51  StoveBurner     1.077          0.919          -1.504         0              0              0
  52  StoveBurner     0.842          0.919          -1.504         0              0              0
  53  Drawer          0.637          0.755          -0.649         0              270            0
  54  Cabinet         0.949          2.159          -2.375         0              270            0
  55  CounterTop      -1.238         0.968          -0.643         0              0              0
  56  CounterTop      0.931          0.946          -0.208         0              0              0
  57  StoveBurner     1.077          0.919          -1.098         0              0              0
  58  Drawer          0.637          0.268          -0.649         0              270            0
  59  Drawer          0.637          0.547          -0.649         0              270            0
  60  Cabinet         0.648          0.475          -1.714         0              0              0
  61  CounterTop      0.931          0.946          -2.051         0              0              0
  62  Cabinet         0.948          2.439          -1.780         0              270            0
  63  Cabinet         0.948          2.159          -0.140         0              270            0
  64  Cabinet         0.949          2.159          -0.758         0              270            0
  65  Sink            -0.699         0.927          -0.649         0              0              0
  66  LightSwitch     -2.371         1.218          3.049          0              180            0
  67  StoveKnob       0.673          0.899          -1.373         315            90             180
  68  StoveKnob       0.673          0.899          -1.519         315            90             180
  69  StoveKnob       0.673          0.899          -1.086         315            90             180
  70  StoveKnob       0.673          0.899          -1.237         315            90             180
  71  Toaster         0.984          0.900          0.329          0              270            0
  72  Window          0.014          0.998          -2.640         90             0              0
  73  Window          -2.996         0.998          -2.640         90             0              0
  74  CoffeeMachine   0.892          0.900          -2.132         0              300.130        0
  75  GarbageCan      -0.946         -0.036         0.575          0              180            0
  76  SinkBasin       -0.698         0.765          -0.647         0              90             0
  77  Microwave       1.042          1.680          -1.295         0              270            0
  78  Fridge          0.966          0.0            1.253          0              0              0
  79  HousePlant      -1.354         0.919          -1.540         0              0              0
  80  Shelf           -1.635         0.172          2.715          0              180            0
  81  Shelf           -1.635         0.552          2.715          0              180            0
  82  Shelf           -1.635         0.880          2.715          0              180            0
  83  ShelvingUnit    -1.635         0.006          2.715          0              180            0
  84  Chair           -1.832         0.002          -0.034         0              119.999        0
  85  Chair           -1.854         0.002          -0.956         0              67.887         0
  86  Faucet          -0.867         1.161          -0.651         0              0              0
  87  NorthWall
  88  EastWall
  89  SouthWall
  90  WestWall

Plan:
STEP 1: Turn left and walk forward to face the counter to the right of the fridge. | STEP 2: Pick up the knife on the counter. | STEP 3: Look down to face the lettuce on the counter. | STEP 4: Cut the lettuce on the counter into slices. | STEP 5: Turn around and step forward to face the sink. | STEP 6: Place the knife in the sink. | STEP 7: Turn around and step forward to face the lettuce on the counter. | STEP 8: Pick up the slice of lettuce on the counter. | STEP 9: Turn around and step forward to face the sink. | STEP 10: Wash the lettuce slice in the sink and then remove it. | STEP 11: Walk around the right side of the center table to face the trash can. | STEP 12: Place the lettuce slice in the trash can. | END