Task: Put a washed slice of lettuce on a table.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.5           0.900          0.25           0              0              0
   1  DishSponge      1.524          0.770          1.160          0              0              0              61
   2  DishSponge      -0.103         0.911          1.044          0              0              0              54
   3  Kettle          0.678          0.964          1.345          0              0              0              81
   4  Pot             0.281          0.964          1.347          0              0              0              58
   5  Pot             0.231          2.160          1.467          0              0              0              52
   6  Fork            1.688          0.912          1.214          0              0              0              78
   7  Plate           2.524          1.658          1.468          0              0              0              68
   8  Cup             1.872          1.652          -0.811         0              180            0              80
   9  Knife           2.754          0.944          1.214          0              0              0              78
  10  Knife           -0.694         0.853          -1.257         0              90             0              102
  11  Bowl            1.422          0.909          1.468          0              0              0              78
  12  SaltShaker      2.479          0.111          1.077          0              0              0              47
  13  SaltShaker      1.862          0.111          1.196          0              0              0              63
  14  PepperShaker    -0.007         0.908          1.553          0              0              0              54
  15  PepperShaker    -0.007         0.908          1.214          0              0              0              54
  16  Bread           2.221          0.969          1.214          0              0              0              78
  17  Lettuce         2.221          0.992          1.468          0              0              0              78
  18  Mug             -0.694         0.815          -1.360         0              90             0              102
  19  Apple           2.900          1.632          -0.709         0              0              0              98
  20  SoapBottle      1.563          0.120          1.156          0              0              0              72
  21  Plate           2.754          0.914          1.383          0              0              0              78
  22  Fork            0.888          0.912          -0.769         0              0              0              43
  23  Pot             0.634          0.915          -0.515         0              0              0              43
  24  Bread           1.029          0.953          -0.519         0              0              0              43
  25  Egg             -2.048         0.461          1.247          0              270            0              96
  26  Kettle          0.710          0.9            -0.772         0              0              0              43
  27  Tomato          0.123          0.797          -0.541         0              0              0              100
  28  Cup             1.917          1.653          1.546          0              0              0              55
  29  Spatula         -0.734         0.835          -1.400         0              0              0              102
  30  Apple           -0.983         0.889          -1.308         0              90             0              102
  31  Pan             0.637          0.960          1.090          0              0              0              46
  32  Lettuce         -0.103         0.992          1.383          0              90             0              54
  33  SaltShaker      1.872          0.110          -0.495         0              180            0              89
  34  Knife           1.688          0.944          1.383          0              0              0              78
  35  Potato          0.518          1.819          1.488          0              180            0              101
  36  PepperShaker    -0.142         0.908          -0.302         0              0              0              43
  37  ButterKnife     0.888          0.901          -0.515         0              0              0              43
  38  Bowl            2.715          1.286          -0.775         0              0              0              98
  39  DishSponge      -0.294         0.911          1.553          0              0              0              54
  40  Spoon           -0.157         0.766          -0.596         0              90             0              100
  41  Mug             0.446          1.649          -0.811         0              180            0              82
  42  Sink            0.050          0.902          -0.648         0              0              0
  43  CounterTop      1.358          0.947          -0.600         0              0              0
  44  Cabinet         2.986          2.009          1.304          0              0              0
  45  Cabinet         1.022          2.009          -0.607         0              180            0
  46  StoveBurner     0.678          0.923          1.082          0              0              0
  47  Cabinet         2.371          0.402          0.995          0              0              0
  48  Drawer          -0.125         0.792          0.995          0              0              0
  49  StoveBurner     0.281          0.923          1.082          0              0              0
  50  Cabinet         1.025          0.402          0.995          0              0              0
  51  Cabinet         1.023          0.402          -0.296         0              180            0
  52  Cabinet         0.974          2.259          1.304          0              0              0
  53  Cabinet         0.979          2.009          -0.607         0              180            0
  54  CounterTop      -0.158         0.947          1.299          0              0              0
  55  Cabinet         1.725          2.009          1.304          0              0              0
  56  Drawer          2.205          0.792          -0.294         0              180            0
  57  Drawer          1.869          0.792          -0.294         0              180            0
  58  StoveBurner     0.281          0.923          1.347          0              0              0
  59  Drawer          2.512          0.792          0.995          0              0              0
  60  Cabinet         1.673          0.402          -0.296         0              180            0
  61  Drawer          1.524          0.792          0.995          0              0              0
  62  Drawer          1.174          0.792          -0.294         0              180            0
  63  Cabinet         1.720          0.402          0.995          0              0              0
  64  Cabinet         2.348          2.009          -0.607         0              180            0
  65  Cabinet         1.676          2.009          -0.607         0              180            0
  66  Cabinet         1.673          2.009          1.304          0              0              0
  67  Cabinet         2.326          2.009          1.304          0              0              0
  68  Cabinet         2.370          2.009          1.304          0              0              0
  69  Cabinet         0.021          2.009          1.304          0              0              0
  70  Cabinet         1.025          2.009          1.304          0              0              0
  71  Cabinet         -0.274         0.402          0.995          0              0              0
  72  Cabinet         1.675          0.402          0.995          0              0              0
  73  Drawer          1.524          0.792          -0.294         0              180            0
  74  Drawer          2.187          0.792          0.995          0              0              0
  75  Cabinet         2.977          0.402          0.995          0              0              0
  76  Drawer          1.862          0.792          0.995          0              0              0
  77  Cabinet         0.072          2.259          1.304          0              0              0
  78  CounterTop      1.917          0.947          1.299          0              0              0
  79  Cabinet         2.328          0.402          0.995          0              0              0
  80  Cabinet         1.723          2.009          -0.607         0              180            0
  81  StoveBurner     0.677          0.923          1.345          0              0              0
  82  Cabinet         0.355          2.009          -0.607         0              180            0
  83  Cabinet         0.332          2.009          -0.607         0              180            0
  84  Cabinet         2.349          0.402          -0.296         0              180            0
  85  Cabinet         -0.284         2.009          -0.607         0              180            0
  86  Faucet          0.061          0.906          -0.903         0              0              0
  87  Drawer          2.837          0.792          0.995          0              0              0
  88  Drawer          1.175          0.792          0.995          0              0              0
  89  Cabinet         1.723          0.402          -0.296         0              180            0
  90  StoveKnob       0.588          1.093          1.557          287.970        0              0
  91  StoveKnob       0.188          1.093          1.557          287.970        0              0
  92  StoveKnob       0.749          1.093          1.557          287.970        0              0
  93  StoveKnob       0.338          1.093          1.557          287.970        0              0
  94  Toaster         1.934          0.900          -0.717         0              0              0
  95  LightSwitch     -1.662         1.427          1.649          0              180            0
  96  GarbageCan      -1.965         -0.029         1.358          0              270            0
  97  CoffeeMachine   1.542          0.900          -0.751         0              0              0
  98  Fridge          3.043          0.0            -0.709         0              0              0
  99  Window          -2.183         1.501          -0.014         90             270            0
 100  SinkBasin       0.043          0.755          -0.651         0              0              0
 101  Microwave       0.531          1.675          1.437          0              180            0
 102  DiningTable     -0.836         8.404          -1.258         0              0              0
 103  Chair           -1.611         0.002          -1.185         0              45             0
 104  NorthWall
 105  EastWall
 106  SouthWall
 107  WestWall

Plan:
STEP 1: Turn around, go forward to the round table. | STEP 2: Take the knife from the table. | STEP 3: Turn around, go forward and to the right to the counter to the left of the oven. | STEP 4: Cut the lettuce on the counter into slices. | STEP 5: Turn around, go forward to the sink. | STEP 6: Put the knife in the sink. | STEP 7: Turn around, go forward to the counter to the left of the oven. | STEP 8: Take a slice of lettuce from the counter. | STEP 9: Turn around, go forward to the sink. | STEP 10: Wash the lettuce in the sink, take the lettuce from the sink. | STEP 11: Turn right, go forward, turn left at the round table, go forward to the table. | STEP 12: Put the lettuce in front of the apple on the table. | END