Task: Place a rinsed piece 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           0.900          -1.0           0              270            0
   1  Potato          -2.393         1.336          -0.696         0              90             0              76
   2  DishSponge      0.301          1.663          -1.693         0              90             0              51
   3  DishSponge      -2.455         0.910          0.631          0              0              0              72
   4  Spoon           -0.471         0.912          0.870          0              0              0              44
   5  Pot             1.412          0.929          -0.335         0              0              0              45
   6  Pot             1.411          0.929          0.064          0              0              0              73
   7  Egg             -2.613         0.209          -0.902         0              90             0              76
   8  Egg             1.677          0.941          -1.074         0              45             0              54
   9  Plate           1.513          0.913          -0.726         0              0              0              54
  10  Plate           -0.211         0.913          0.423          0              0              0              44
  11  Knife           0.683          0.936          -1.539         0              0              0              54
  12  Knife           -2.538         0.936          0.331          0              90             0              72
  13  PepperShaker    -2.621         0.905          0.331          0              0              0              72
  14  PepperShaker    -2.372         0.905          0.931          0              0              0              72
  15  SaltShaker      -2.645         1.532          2.840          0              0              0              48
  16  Lettuce         -2.538         0.994          1.530          0              0              0              72
  17  Lettuce         -2.372         0.994          1.230          0              0              0              72
  18  Bread           -2.206         0.996          1.830          0              0              0              72
  19  Apple           -2.603         1.077          2.278          0              90             0              84
  20  Apple           1.646          0.246          0.679          0              0              0              83
  21  Pan             0.0            0.9            0.948          0              29.999         0              44
  22  Knife           -2.379         0.799          1.322          0              90             0              75
  23  Apple           -0.081         0.972          1.764          0              0              0              44
  24  Bowl            -2.289         0.908          0.031          0              0              0              72
  25  Fork            1.769          0.911          0.465          0              0              0              53
  26  Bread           -2.206         0.996          1.530          0              0              0              72
  27  Plate           -0.341         0.913          1.317          0              0              0              44
  28  Egg             -2.393         1.331          -0.885         0              90             0              76
  29  Kettle          1.691          0.929          -0.335         0              0              0              52
  30  Potato          -2.558         0.214          -0.570         0              270            0              76
  31  SaltShaker      1.855          0.906          0.435          0              0              0              53
  32  Lettuce         -2.485         1.172          -0.696         0              90             0              76
  33  Cup             1.512          0.908          0.465          0              0              0              53
  34  SoapBottle      -2.605         1.539          1.337          0              0              0              57
  35  Spatula         -2.257         0.789          0.343          0              90             0              61
  36  PaperTowelRoll  -0.730         1.015          1.094          0              0              0              44
  37  ButterKnife     -2.289         0.910          0.631          0              0              0              72
  38  PepperShaker    -2.564         1.532          1.119          0              0              0              57
  39  DishSponge      -0.601         0.910          1.540          0              0              0              44
  40  Pot             -0.341         0.914          1.764          0              0              0              44
  41  Spoon           -2.379         0.775          0.905          0              90             0              49
  42  Tomato          -2.559         0.637          -0.514         0              90             0              76
  43  Mug             1.772          1.658          -0.479         0              0              0              64
  44  CounterTop      -0.360         0.946          1.093          0              0              0
  45  StoveBurner     1.412          0.923          -0.335         0              0              0
  46  StoveKnob       1.878          1.093          0.018          287.989        90             0
  47  StoveKnob       1.878          1.093          -0.306         287.989        90             0
  48  Cabinet         -2.446         1.948          2.924          0              0              0
  49  Drawer          -2.276         0.792          0.902          0              0              0
  50  Cabinet         -2.145         0.402          1.578          0              0              0
  51  Cabinet         0.149          2.008          -1.603         0              90             0
  52  StoveBurner     1.691          0.923          -0.335         0              0              0
  53  CounterTop      1.585          0.946          0.405          0              0              0
  54  CounterTop      0.474          0.946          -1.625         0              0              0
  55  StoveBurner     1.691          0.923          0.064          0              0              0
  56  Cabinet         -2.446         1.948          1.687          0              0              0
  57  Cabinet         -2.446         1.948          1.640          0              0              0
  58  Sink            1.381          0.810          -1.271         0              225            0
  59  StoveKnob       1.878          1.093          0.150          287.989        90             0
  60  Cabinet         -2.145         0.402          -0.236         0              0              0
  61  Drawer          -2.276         0.792          0.437          0              0              0
  62  Drawer          -2.276         0.792          -0.027         0              0              0
  63  Cabinet         1.572          2.008          0.474          0              0              0
  64  Cabinet         1.572          2.008          -0.775         0              0              0
  65  Cabinet         -2.445         2.148          -1.275         0              0              0
  66  Cabinet         -2.446         2.148          -0.284         0              0              0
  67  Cabinet         -2.446         1.948          0.355          0              0              0
  68  Cabinet         -2.446         1.948          0.405          0              0              0
  69  Cabinet         -2.145         0.402          0.644          0              0              0
  70  Cabinet         -2.145         0.402          0.695          0              0              0
  71  Cabinet         -2.285         1.968          -1.325         0              180            0
  72  CounterTop      -1.485         0.946          1.319          0              0              0
  73  StoveBurner     1.411          0.923          0.064          0              0              0
  74  StoveKnob       1.878          1.093          -0.441         287.989        90             0
  75  Drawer          -2.276         0.792          1.368          0              0              0
  76  Fridge          -2.475         0.0            -0.782         0              90             0
  77  LightSwitch     -0.929         1.350          -1.950         0              0              0
  78  Toaster         -2.564         0.900          1.876          0              90             0
  79  CoffeeMachine   0.464          0.900          -1.810         0              0              0
  80  Window          1.508          1.534          -1.496         90             135            0
  81  Window          1.973          1.521          1.121          90             90             0
  82  SinkBasin       1.149          0.753          -1.380         0              225            0
  83  GarbageCan      1.646          -0.000         0.679          0              0              0
  84  Microwave       -2.580         0.900          2.440          0              90             0
  85  Stool           0.439          0.010          0.747          0              0              0
  86  Stool           -2.303         0.010          1.839          0              0              0
  87  Faucet          1.235          1.138          -1.473         0              225            0
  88  NorthWall
  89  EastWall
  90  SouthWall
  91  WestWall

Plan:
STEP 1: Turn right, move to the counter after the refrigerator. | STEP 2: Pick up the yellow handled knife from the counter. | STEP 3: Turn left, move to the front of the refrigerator. | STEP 4: Slice the lettuce in the refrigerator. | STEP 5: Move to the front of the refrigerator. | STEP 6: Put the knife in the refrigerator. | STEP 7: Move to the front of the refrigerator. | STEP 8: Pick up a slice of lettuce. | STEP 9: Turn left, move to the counter at the sink. | STEP 10: Put slice of lettuce in the sink, rinse it, pick it back up. | STEP 11: Turn right, move to the counter between the stove and the trash bin. | STEP 12: Put slice of lettuce on counter. | END