Task: Place a rinsed piece of lettuce on the table with a gray tablecloth.

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          0.0            0              0              0
   1  Pot             0.281          0.964          1.082          0              0              0              47
   2  Spoon           0.888          0.912          -0.684         0              0              0              41
   3  Spoon           2.221          0.912          1.214          0              0              0              76
   4  Spatula         0.349          0.926          -0.330         0              0              0              41
   5  Cup             2.156          0.909          -0.769         0              0              0              41
   6  Cup             -0.103         0.909          1.468          0              0              0              52
   7  Egg             0.518          1.822          1.423          0              180            0              99
   8  Knife           2.488          0.944          1.468          0              0              0              76
   9  Knife           1.688          0.944          1.468          0              0              0              76
  10  Tomato          1.688          0.942          1.214          0              0              0              76
  11  Bowl            2.715          1.561          -0.644         0              0              0              96
  12  Bowl            0.390          2.154          1.467          0              0              0              75
  13  SaltShaker      2.208          1.651          -0.725         0              180            0              62
  14  PepperShaker    0.759          2.150          1.429          0              0              0              50
  15  Bread           -0.198         0.969          1.214          0              0              0              52
  16  Bread           2.754          0.969          1.129          0              0              0              76
  17  Mug             1.428          0.968          -0.577         0              0              0              41
  18  SoapBottle      -0.049         0.120          1.196          0              0              0              69
  19  Plate           1.422          0.914          1.299          0              0              0              76
  20  Fork            2.205          0.771          -0.422         0              270            0              54
  21  Pot             1.955          0.915          1.129          0              0              0              76
  22  Bread           2.488          0.969          1.129          0              0              0              76
  23  Egg             0.053          0.803          -0.541         0              0              0              98
  24  Kettle          1.135          0.115          -0.495         0              180            0              49
  25  Tomato          -1.962         0.455          1.290          0              270            0              94
  26  Cup             1.522          1.653          -0.849         0              180            0              78
  27  Spatula         0.054          0.926          -0.330         0              0              0              41
  28  Apple           0.193          0.834          -0.762         0              0              0              98
  29  Pan             0.678          0.964          1.345          0              0              0              79
  30  Lettuce         1.141          0.992          -0.684         0              0              0              41
  31  SaltShaker      -0.939         0.817          -1.328         0              0              0              100
  32  Knife           -1.056         0.853          -1.206         0              270            0              100
  33  Potato          0.193          0.800          -0.541         0              0              0              98
  34  PepperShaker    -0.734         0.817          -1.183         0              0              0              100
  35  ButterKnife     -0.294         0.911          1.299          0              90             0              52
  36  Bowl            -0.734         0.818          -1.328         0              0              0              100
  37  DishSponge      0.888          0.911          -0.769         0              0              0              41
  38  Spoon           -0.091         0.772          1.122          0              0              0              46
  39  Mug             0.634          0.906          -0.345         0              0              0              41
  40  Sink            0.050          0.902          -0.648         0              0              0
  41  CounterTop      1.358          0.947          -0.600         0              0              0
  42  Cabinet         2.986          2.009          1.304          0              0              0
  43  Cabinet         1.022          2.009          -0.607         0              180            0
  44  StoveBurner     0.678          0.923          1.082          0              0              0
  45  Cabinet         2.371          0.402          0.995          0              0              0
  46  Drawer          -0.125         0.792          0.995          0              0              0
  47  StoveBurner     0.281          0.923          1.082          0              0              0
  48  Cabinet         1.025          0.402          0.995          0              0              0
  49  Cabinet         1.023          0.402          -0.296         0              180            0
  50  Cabinet         0.974          2.259          1.304          0              0              0
  51  Cabinet         0.979          2.009          -0.607         0              180            0
  52  CounterTop      -0.158         0.947          1.299          0              0              0
  53  Cabinet         1.725          2.009          1.304          0              0              0
  54  Drawer          2.205          0.792          -0.294         0              180            0
  55  Drawer          1.869          0.792          -0.294         0              180            0
  56  StoveBurner     0.281          0.923          1.347          0              0              0
  57  Drawer          2.512          0.792          0.995          0              0              0
  58  Cabinet         1.673          0.402          -0.296         0              180            0
  59  Drawer          1.524          0.792          0.995          0              0              0
  60  Drawer          1.174          0.792          -0.294         0              180            0
  61  Cabinet         1.720          0.402          0.995          0              0              0
  62  Cabinet         2.348          2.009          -0.607         0              180            0
  63  Cabinet         1.676          2.009          -0.607         0              180            0
  64  Cabinet         1.673          2.009          1.304          0              0              0
  65  Cabinet         2.326          2.009          1.304          0              0              0
  66  Cabinet         2.370          2.009          1.304          0              0              0
  67  Cabinet         0.021          2.009          1.304          0              0              0
  68  Cabinet         1.025          2.009          1.304          0              0              0
  69  Cabinet         -0.274         0.402          0.995          0              0              0
  70  Cabinet         1.675          0.402          0.995          0              0              0
  71  Drawer          1.524          0.792          -0.294         0              180            0
  72  Drawer          2.187          0.792          0.995          0              0              0
  73  Cabinet         2.977          0.402          0.995          0              0              0
  74  Drawer          1.862          0.792          0.995          0              0              0
  75  Cabinet         0.072          2.259          1.304          0              0              0
  76  CounterTop      1.917          0.947          1.299          0              0              0
  77  Cabinet         2.328          0.402          0.995          0              0              0
  78  Cabinet         1.723          2.009          -0.607         0              180            0
  79  StoveBurner     0.677          0.923          1.345          0              0              0
  80  Cabinet         0.355          2.009          -0.607         0              180            0
  81  Cabinet         0.332          2.009          -0.607         0              180            0
  82  Cabinet         2.349          0.402          -0.296         0              180            0
  83  Cabinet         -0.284         2.009          -0.607         0              180            0
  84  Faucet          0.061          0.906          -0.903         0              0              0
  85  Drawer          2.837          0.792          0.995          0              0              0
  86  Drawer          1.175          0.792          0.995          0              0              0
  87  Cabinet         1.723          0.402          -0.296         0              180            0
  88  StoveKnob       0.588          1.093          1.557          287.970        0              0
  89  StoveKnob       0.188          1.093          1.557          287.970        0              0
  90  StoveKnob       0.749          1.093          1.557          287.970        0              0
  91  StoveKnob       0.338          1.093          1.557          287.970        0              0
  92  Toaster         1.934          0.900          -0.717         0              0              0
  93  LightSwitch     -1.662         1.427          1.649          0              180            0
  94  GarbageCan      -1.965         -0.029         1.358          0              270            0
  95  CoffeeMachine   1.542          0.900          -0.751         0              0              0
  96  Fridge          3.043          0.0            -0.709         0              0              0
  97  Window          -2.183         1.501          -0.014         90             270            0
  98  SinkBasin       0.043          0.755          -0.651         0              0              0
  99  Microwave       0.531          1.675          1.437          0              180            0
 100  DiningTable     -0.836         8.404          -1.258         0              0              0
 101  Chair           -1.611         0.002          -1.185         0              45             0
 102  NorthWall
 103  EastWall
 104  SouthWall
 105  WestWall

Plan:
STEP 1: Turn right and walk to the yellow knife on the counter across from the fridge. | STEP 2: Pick up the yellow knife behind the bread on the counter. | STEP 3: Turn around and walk to the lettuce to the right of the coffee machine. | STEP 4: Cut up the lettuce on the counter. | STEP 5: Turn right and walk to the sink. | STEP 6: Place the knife in the sink. | STEP 7: Turn left and walk to the lettuce on the counter. | STEP 8: Pick up a piece of lettuce from the counter. | STEP 9: Turn around and walk to the sink. | STEP 10: Rinse the piece of lettuce in the sink and then pick up the piece of lettuce from the sink. | STEP 11: Walk to the table with the gray tablecloth. | STEP 12: Place the piece of lettuce on the table. | END