Task: place cleaned lettuce on table with toaster

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          0.869          -0.25          0              180            0
   1  Potato          1.040          0.916          -0.913         0              0              0              46
   2  DishSponge      0.901          0.664          0.326          0              0              0              51
   3  DishSponge      0.676          0.015          -0.250         0              0              0              56
   4  Spatula         -0.051         0.915          1.272          0              0              0              72
   5  Spatula         -1.635         0.716          -0.875         0              0              0              82
   6  Spoon           -1.719         0.702          -1.416         0              0              0              82
   7  Spoon           0.817          0.760          0.002          0              90             0              45
   8  Fork            0.901          0.665          0.448          0              0              0              51
   9  Fork            0.877          0.884          0.098          0              0              0              46
  10  Pot             0.746          1.373          -1.880         0              0              0              66
  11  Egg             0.630          0.502          -2.035         0              270            0              66
  12  Knife           0.950          0.906          -0.176         0              0              0              46
  13  Knife           0.720          0.783          -0.252         0              90             0              45
  14  Tomato          -1.261         0.100          -3.574         0              270            0              61
  15  Tomato          0.708          0.713          -1.725         0              270            0              66
  16  SoapBottle      -1.578         0.699          -3.276         0              0              0              73
  17  PepperShaker    0.901          0.661          0.630          0              0              0              51
  18  PepperShaker    0.767          1.460          -0.207         0              0              0              57
  19  SaltShaker      0.661          0.660          0.265          0              0              0              51
  20  Bread           -0.252         0.944          1.101          0              270            0              72
  21  Bread           0.149          0.944          1.101          0              270            0              72
  22  Lettuce         0.708          1.245          -1.958         0              270            0              66
  23  Mug             0.781          0.659          0.387          0              0              0              51
  24  Pot             -1.555         0.930          1.049          0              0              0              55
  25  Plate           0.676          0.019          -0.637         0              0              0              49
  26  Fork            0.769          0.760          -0.124         0              90             0              45
  27  SoapBottle      -1.578         0.695          -3.698         0              0              0              73
  28  Apple           0.785          0.519          -2.190         0              270            0              66
  29  Pan             -2.097         0.930          0.785          0              0              0              48
  30  Egg             -1.187         0.088          -3.647         0              270            0              61
  31  Spatula         -0.855         0.915          1.187          0              0              0              72
  32  Potato          -1.790         0.832          -3.771         0              0              0              68
  33  Cup             -1.970         0.700          -1.091         0              0              0              82
  34  SaltShaker      1.024          0.879          0.098          0              0              0              46
  35  PepperShaker    0.601          0.661          0.630          0              0              0              51
  36  ButterKnife     0.754          0.755          -0.743         0              45             0              69
  37  DishSponge      -1.635         0.701          -1.307         0              0              0              82
  38  Bread           -0.873         0.931          0.978          0              24.231         0              72
  39  Lettuce         0.781          0.751          0.569          0              0              0              51
  40  Tomato          0.785          0.713          -2.113         0              270            0              66
  41  Spoon           0.671          0.761          0.002          0              0              0              45
  42  Knife           0.574          0.782          0.002          0              270            0              45
  43  Mug             0.698          0.941          -1.360         0              270            0              59
  44  Bowl            0.787          0.014          0.011          0              0              0              56
  45  Drawer          0.706          0.766          -0.125         0              0              0
  46  CounterTop      0.792          0.919          -0.108         0              0              0
  47  Mirror          1.093          1.602          -0.643         0              0              0
  48  StoveBurner     -2.096         0.890          0.785          0              0              0
  49  Cabinet         0.507          0.345          -0.426         0              0              0
  50  StoveBurner     -1.552         0.890          0.785          0              0              0
  51  SideTable       0.770          -0.030         0.443          0              0              0
  52  Sink            0.753          0.882          -0.680         0              0              0
  53  StoveBurner     -2.096         0.890          1.049          0              0              0
  54  GarbageBag      -0.770         0.287          -3.541         270            73.521         83.489
  55  StoveBurner     -1.554         0.890          1.049          0              0              0
  56  Cabinet         0.507          0.345          0.156          0              0              0
  57  Cabinet         0.717          1.822          -0.398         0              0              0
  58  Cabinet         0.717          1.822          0.669          0              0              0
  59  CoffeeMachine   0.873          0.865          -1.256         0              270            0
  60  Toaster         -0.522         0.886          1.081          0              180            0
  61  GarbageCan      -1.261         -0.031         -3.610         0              270            0
  62  StoveKnob       -1.898         0.866          0.519          311.864        0              180
  63  StoveKnob       -1.754         0.866          0.519          311.864        0              180
  64  StoveKnob       -2.058         0.866          0.519          311.864        0              180
  65  StoveKnob       -1.600         0.866          0.519          311.864        0              180
  66  Fridge          0.680          -0.031         -1.957         0              0              0
  67  Window          -2.424         1.639          -2.453         90             270            0
  68  Microwave       -1.994         0.690          -3.651         0              0              0
  69  SinkBasin       0.757          0.762          -0.688         0              270            0
  70  LightSwitch     1.102          1.368          -3.737         0              270            0
  71  Shelf           -0.350         0.124          0.857          0              0              0
  72  DiningTable     -0.350         -0.025         0.857          0              0              0
  73  DiningTable     -1.909         -0.032         -3.507         0              0              0
  74  Blinds          -2.343         2.151          -2.437         0              270            0
  75  AluminumFoil    0.762          0.224          0.337          0              184.594        0
  76  AluminumFoil    0.751          0.225          0.287          0              0              0
  77  AluminumFoil    0.839          0.224          0.392          0              195.128        0
  78  Shelf           0.771          0.226          0.445          0              0              0
  79  Shelf           0.771          0.456          0.446          0              0              0
  80  Faucet          1.025          0.873          -0.678         270            180            0
  81  Shelf           -0.350         0.497          0.857          0              0              0
  82  DiningTable     -1.929         -0.035         -1.398         0              90             0
  83  Chair           -1.610         -0.024         -1.424         358.454        297.426        0
  84  NorthWall
  85  EastWall
  86  SouthWall
  87  WestWall

Plan:
STEP 1: turn left, go to black shelves to the left of sink | STEP 2: pick up green lettuce to the left on black shelves | STEP 3: go to sink to the right | STEP 4: put lettuce in sink, turn on water, turn off water, pick up lettuce from sink | STEP 5: turn left, go to table with two loaves of bread to the right of toaster | STEP 6: place lettuce in front of two loaves of bread on table | END