Task: Put a clean slice of lettuce on the counter.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.25          1.124          0.75           0              180            0
   1  Pan             -0.630         1.331          -3.301         0              180            0              47
   2  Potato          1.056          1.796          2.289          0              270            0              63
   3  Potato          1.072          1.564          1.601          0              270            0              63
   4  DishSponge      0.492          1.322          -3.121         0              0              0              50
   5  WineBottle      0.206          1.323          -2.789         0              0              0              50
   6  WineBottle      -1.610         0.281          2.234          0              270            0              65
   7  Fork            -1.451         1.323          -3.314         0              270            0              50
   8  Fork            0.981          0.741          0.983          0              90             0              74
   9  Spoon           0.492          1.324          -2.789         0              0              0              50
  10  Spatula         -2.004         1.343          -1.117         0              270            0              57
  11  Spatula         -1.660         1.337          -2.721         0              90             0              50
  12  Pot             -1.660         1.329          2.069          0              0              0              50
  13  Egg             1.148          1.351          0.913          0              270            0              75
  14  Egg             -1.530         1.363          -2.981         0              0              0              50
  15  Plate           -1.750         0.344          1.213          0              0              0              51
  16  Knife           -1.237         1.352          -3.203         0              180            0              50
  17  Knife           -1.380         1.352          -3.203         0              0              0              50
  18  Tomato          -2.179         1.356          0.770          0              0              0              50
  19  Tomato          -2.179         1.356          -1.681         0              0              0              50
  20  Bowl            -1.665         0.342          -1.963         0              180            0              46
  21  Lettuce         0.277          1.399          -3.121         0              0              0              50
  22  Bread           -1.401         1.397          -2.201         0              0              0              50
  23  Pot             -0.239         1.331          -3.301         0              180            0              45
  24  Knife           -1.826         1.362          -0.911         0              180            0              57
  25  Bowl            0.920          1.522          1.539          0              270            0              63
  26  Potato          -2.093         1.374          -0.911         0              0              0              57
  27  SoapBottle      0.506          1.323          -0.942         0              0              0              50
  28  Fork            -1.237         1.323          -2.981         0              0              0              50
  29  Cup             -1.530         1.320          1.744          0              0              0              50
  30  Kettle          -1.691         1.310          -3.156         0              150.000        0              50
  31  Egg             0.928          2.069          2.288          0              270            0              63
  32  Pan             -1.881         0.327          -2.035         0              0              0              46
  33  SaltShaker      -1.789         0.338          -1.763         0              0              0              46
  34  WineBottle      -1.165         1.323          -2.760         0              0              0              50
  35  Lettuce         -1.891         1.400          -1.073         1.252          0              355.700        57
  36  Spatula         0.636          1.337          -2.424         0              0              0              50
  37  PaperTowelRoll  1.193          1.312          1.222          0              0              0              75
  38  Tomato          -1.660         1.356          1.094          0              0              0              50
  39  Plate           -1.681         0.344          0.412          0              0              0              48
  40  PepperShaker    1.276          1.202          1.222          0              0              0              75
  41  DishSponge      -1.952         0.343          0.512          0              0              0              48
  42  Spoon           -2.049         1.324          -2.201         0              0              0              50
  43  Apple           1.017          1.724          1.545          0              270            0              63
  44  Mug             -1.698         1.046          -0.542         0              0              0              68
  45  StoveBurner     -0.239         1.325          -3.301         0              180            0
  46  Cabinet         -1.461         0.775          -2.002         0              0              0
  47  StoveBurner     -0.630         1.325          -3.301         0              180            0
  48  Cabinet         -1.461         0.775          0.470          0              0              0
  49  Cabinet         0.578          0.776          -2.054         0              0              0
  50  CounterTop      -1.809         1.358          1.182          0              0              0
  51  Cabinet         -1.461         0.775          1.310          0              0              0
  52  Faucet          -2.063         1.362          -0.726         0              39.391         0
  53  StoveBurner     -0.749         1.325          -2.973         0              0              0
  54  Drawer          -1.610         0.681          -0.430         0              0              0
  55  Window          -2.566         1.799          -0.822         270            0              0
  56  Drawer          -1.610         0.681          -1.217         0              0              0
  57  Sink            -1.990         1.143          -0.975         0              0              0
  58  StoveBurner     -0.125         1.325          -2.973         0              0              0
  59  StoveKnob       -0.185         1.338          -2.741         0              270            180
  60  StoveKnob       -0.336         1.338          -2.741         0              270            180
  61  StoveKnob       -0.569         1.338          -2.741         0              270            180
  62  StoveKnob       -0.707         1.338          -2.741         0              270            180
  63  Fridge          1.013          0.227          1.917          0              270            0
  64  Microwave       0.994          1.310          -2.163         0              270            0
  65  GarbageCan      -1.633         0.212          2.192          0              270            0
  66  LightSwitch     1.386          1.565          -0.657         0              270            0
  67  HousePlant      -2.027         1.311          -0.026         0              284.058        0
  68  SinkBasin       -1.835         1.039          -0.542         0              0              0
  69  ButterKnife     0.873          0.468          0.651          0              0              0
  70  Toaster         -1.885         1.310          -2.512         0              90             0
  71  CoffeeMachine   1.129          1.310          -1.426         0              270            0
  72  Drawer          0.647          1.061          0.680          0              270            0
  73  Drawer          0.648          1.061          1.020          0              270            0
  74  Drawer          0.648          0.843          1.020          0              270            0
  75  SideTable       0.975          0.220          0.869          0              270            0
  76  Drawer          0.648          0.602          0.680          0              270            0
  77  Drawer          0.648          0.596          1.020          0              270            0
  78  Drawer          0.648          0.843          0.680          0              270            0
  79  Stool           0.606          0.222          -1.084         1.233          280.489        0
  80  NorthWall
  81  EastWall
  82  SouthWall
  83  WestWall

Plan:
STEP 1: Go forward, then turn right to face the left side of the sink. | STEP 2: Pick up the knife at the sink, to the right of the lettuce. | STEP 3: Cut the lettuce on the sink. | STEP 4: Go to the right side of the sink. | STEP 5: Put the knife in the sink basin. | STEP 6: Return to the left side of the sink. | STEP 7: Pick up a slice of lettuce from the sink. | STEP 8: Go to the right side of the sink. | STEP 9: Clean the slice of lettuce in the sink basin. | STEP 10: Turn right, go forward, then turn right to approach the counter with the microwave. | STEP 11: Put the slice of lettuce on the counter, at the front left corner. | END