Task: Slice a head of lettuce, wash a slice in the sink, return the slice to the table

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.75           0.901          2.0            0              270            0
   1  Potato          2.148          0.978          0.361          0              90             0              59
   2  DishSponge      1.556          0.937          2.666          0              0              0              48
   3  ButterKnife     -0.042         0.791          1.049          0              0              0              75
   4  Pot             0.708          0.081          2.523          0              90             0              55
   5  Spoon           1.815          0.747          1.922          0              90             0              63
   6  Spoon           1.906          0.747          0.446          0              0              0              57
   7  Fork            -0.119         0.791          1.386          0              0              0              75
   8  Egg             2.250          0.644          -0.278         0              270            0              69
   9  Plate           2.059          0.342          -0.097         0              270            0              69
  10  SoapBottle      -0.425         0.791          0.881          0              0              0              75
  11  Tomato          -0.282         0.983          2.618          0              0              0              48
  12  Tomato          2.223          1.367          -0.188         0              270            0              69
  13  SaltShaker      -0.349         0.785          0.377          0              0              0              75
  14  Bread           2.112          1.371          -0.460         0              270            0              69
  15  Lettuce         -0.042         0.852          0.377          0              0              0              75
  16  Lettuce         0.033          0.852          0.881          0              0              0              75
  17  Egg             -0.362         1.078          2.014          0              90             0              73
  18  Lettuce         0.277          0.989          2.611          0              60.216         0              48
  19  Fork            1.917          0.938          0.435          0              0              0              59
  20  SoapBottle      0.033          0.791          0.545          0              0              0              75
  21  Ladle           -0.103         0.790          2.197          0              270            0              47
  22  Ladle           1.673          0.982          2.743          0              0              0              48
  23  Bread           -0.199         0.823          0.813          0              0              0              75
  24  SaltShaker      2.203          1.498          0.785          0              0              0              56
  25  Potato          2.158          0.901          -0.278         0              270            0              69
  26  Pan             2.140          0.935          1.504          0              180            0              43
  27  WineBottle      1.830          1.503          2.767          0              0              0              49
  28  Spatula         2.011          0.760          0.721          0              270            0              57
  29  Knife           -0.119         0.816          0.545          0              270            0              75
  30  Tomato          1.223          0.841          2.529          0              0              0              72
  31  Apple           -0.327         0.087          -0.769         0              90             0              70
  32  ButterKnife     1.660          0.926          2.473          0              352.515        0              48
  33  Pot             1.854          0.937          1.497          0              0              0              52
  34  PepperShaker    1.840          0.933          0.509          0              0              0              59
  35  Cup             2.304          0.935          2.359          0              0              0              48
  36  DishSponge      -0.119         0.790          1.217          0              0              0              75
  37  Plate           -0.312         0.781          0.409          0              0              0              75
  38  Spoon           1.954          0.747          2.060          0              0              0              63
  39  Mug             1.118          0.790          2.529          0              0              0              72
  40  Bowl            2.231          1.515          -0.097         0              270            0              69
  41  Cabinet         2.041          2.113          2.618          0              0              0
  42  Cabinet         0.126          0.388          1.774          0              0              0
  43  StoveBurner     2.140          0.929          1.504          0              180            0
  44  Cabinet         1.760          0.388          2.346          0              0              0
  45  Cabinet         1.760          0.388          0.869          0              0              0
  46  Cabinet         2.041          1.810          0.283          0              0              0
  47  Drawer          -0.024         0.774          2.061          0              0              0
  48  CounterTop      1.065          0.973          2.666          0              0              0
  49  Cabinet         1.969          2.113          2.618          0              0              0
  50  StoveBurner     2.140          0.929          1.106          0              0              0
  51  Cabinet         2.041          2.113          1.809          0              0              0
  52  StoveBurner     1.866          0.929          1.504          0              180            0
  53  Cabinet         2.041          2.113          1.766          0              0              0
  54  Cabinet         1.514          0.388          2.360          0              0              0
  55  Cabinet         0.351          0.388          2.360          0              0              0
  56  Cabinet         2.041          1.810          0.872          0              0              0
  57  Drawer          2.167          0.774          0.582          0              0              0
  58  Cabinet         2.041          2.113          0.892          0              0              0
  59  CounterTop      2.060          0.973          0.583          0              0              0
  60  Sink            0.935          0.936          2.646          0              0              0
  61  Curtains        0.964          2.061          2.989          0              0              0
  62  StoveBurner     1.863          0.929          1.106          0              0              0
  63  Drawer          1.911          0.774          2.060          0              0              0
  64  StoveKnob       2.326          1.092          1.610          288.013        90             0
  65  StoveKnob       2.326          1.092          1.460          288.013        90             0
  66  StoveKnob       2.326          1.092          1.210          288.013        90             0
  67  StoveKnob       2.326          1.092          1.050          288.013        90             0
  68  Toaster         2.126          0.926          0.572          0              270            0
  69  Fridge          2.104          0.0            -0.279         0              270            0
  70  GarbageCan      -0.309         -0.001         -0.807         0              91.471         0
  71  LightSwitch     0.354          1.518          -1.031         0              0              0
  72  SinkBasin       0.903          0.784          2.640          0              0              0
  73  Microwave       -0.310         0.926          2.077          0              90             0
  74  CoffeeMachine   2.084          0.927          2.667          0              225            0
  75  DiningTable     -0.153         -0.000         1.073          0              270            0
  76  Faucet          1.175          0.926          2.950          270            90             0
  77  Faucet          0.686          0.926          2.950          270            90             0
  78  Chair           -0.077         0.002          0.196          0              15.000         0
  79  NorthWall
  80  EastWall
  81  SouthWall
  82  WestWall

Plan:
STEP 1: Turn to your left and walk to the left side of the white table. | STEP 2: Pick up the yellow-handled knife located between the left-most head of lettuce and the loaf of bread. | STEP 3: Move toward the center of the table and stand in front of the head of lettuce with the loaf of bread behind it. | STEP 4: Slice the head of lettuce. | STEP 5: Turn to your right and walk to the sink. | STEP 6: Place the knife in the left side of the sink. | STEP 7: Turn around and walk to the white table. | STEP 8: Pick up a middle slice of the sliced head of lettuce. | STEP 9: Turn to your right and walk to the sink. | STEP 10: Place the slice of lettuce to the left of the knife, turn on the faucet, partially fill the left sink with water, turn off the faucet, wash the slice of lettuce, drain the sink, pick up the slice of lettuce. | STEP 11: Turn around and walk to the table. | STEP 12: Place the washed lettuce slice at the left end of the sliced head of lettuce. | END