Task: Preparing lettuce and putting it in the sink

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -3.0           0.900          1.25           0              90             0
   1  Potato          -3.506         0.942          2.778          0              90             0              67
   2  Potato          -3.350         0.953          2.338          0              90             0              67
   3  Ladle           -0.662         1.087          3.042          0              90             0              50
   4  DishSponge      -0.662         1.046          2.144          0              0              0              50
   5  DishSponge      -0.662         1.047          2.817          0              0              0              50
   6  Fork            -0.662         1.047          2.593          0              0              0              50
   7  Spatula         -0.715         1.139          0.296          0              90             0              62
   8  Egg             -3.742         1.155          0.095          0              0              0              57
   9  SoapBottle      -0.662         1.047          1.920          0              0              0              50
  10  Tomato          -3.639         0.952          2.920          0              90             0              67
  11  Tomato          -3.747         0.153          2.038          0              0              0              71
  12  Bowl            -2.262         1.122          0.567          0              0              0              60
  13  Bowl            -3.440         1.560          2.920          0              90             0              67
  14  SaltShaker      -1.483         0.045          0.665          0              0              0              65
  15  SaltShaker      -0.785         1.044          2.144          0              0              0              50
  16  PepperShaker    -1.640         0.045          0.551          0              0              0              65
  17  PepperShaker    -0.785         1.043          2.817          0              0              0              50
  18  Bread           -0.785         1.134          1.920          0              0              0              50
  19  Mug             -0.785         1.043          3.266          0              0              0              50
  20  Mug             -3.639         1.555          3.132          0              90             0              67
  21  Apple           -0.883         1.192          0.478          0              0              0              62
  22  Apple           -3.593         0.179          2.038          0              0              0              71
  23  Fork            -2.137         1.125          0.567          0              90             0              60
  24  SoapBottle      -1.601         0.049          0.438          0              0              0              65
  25  Pot             -3.000         1.133          0.480          0              270            0              55
  26  Ladle           -3.778         1.164          0.284          0              90             0              57
  27  Potato          -0.908         1.078          2.817          0              0              0              50
  28  Plate           -2.639         1.123          0.190          0              0              0              60
  29  Bread           -0.785         1.134          3.042          0              0              0              50
  30  Lettuce         -3.339         0.969          3.081          0              228.265        312.447        67
  31  Spatula         -1.376         0.946          0.290          0              90             0              72
  32  Pan             -0.266         1.038          2.561          0              0              0              50
  33  Egg             -1.111         0.961          0.290          0              0              0              72
  34  Cup             -0.908         1.046          2.369          0              0              0              50
  35  SaltShaker      -2.089         0.092          0.579          0              0              0              52
  36  Knife           -1.288         0.963          0.428          0              0              0              72
  37  Bowl            -2.514         1.122          0.473          0              0              0              60
  38  PepperShaker    -0.715         1.121          0.569          0              0              0              62
  39  ButterKnife     -0.939         1.124          0.387          0              90             0              62
  40  Apple           -3.887         1.192          0.284          0              0              0              57
  41  Tomato          -3.572         1.327          2.849          0              90             0              67
  42  DishSponge      -1.156         0.049          0.551          0              0              0              54
  43  Spoon           -1.903         0.903          0.544          0              90             0              58
  44  Mug             -1.199         0.926          0.636          0              270            0              72
  45  StoveKnob       -3.322         1.053          0.709          45             0              0
  46  StoveBurner     -3.474         1.097          0.227          0              180            0
  47  Sink            -1.394         0.982          0.439          0              0              0
  48  StoveBurner     -3.474         1.097          0.479          0              180            0
  49  StoveKnob       -3.164         1.053          0.709          45             0              0
  50  DiningTable     -0.620         0.017          2.486          0              0              0
  51  Drawer          -2.043         0.608          0.594          0              0              0
  52  Drawer          -2.043         0.216          0.594          0              0              0
  53  Drawer          -2.498         0.216          0.594          0              0              0
  54  Cabinet         -1.001         0.393          0.734          0              0              0
  55  StoveBurner     -3.000         1.097          0.480          0              0              0
  56  StoveKnob       -3.492         1.053          0.709          45             0              0
  57  CounterTop      -3.856         1.160          0.379          0              0              0
  58  Drawer          -2.043         0.937          0.599          0              0              0
  59  Drawer          -2.509         0.937          0.599          0              0              0
  60  CounterTop      -2.280         1.160          0.379          0              0              0
  61  StoveKnob       -2.985         1.053          0.709          45             0              0
  62  CounterTop      -0.514         1.160          0.492          0              0              0
  63  Drawer          -2.498         0.608          0.594          0              0              0
  64  StoveBurner     -3.000         1.097          0.227          0              0              0
  65  Cabinet         -1.733         0.393          0.734          0              0              0
  66  CoffeeMachine   -0.153         1.038          3.193          0              270            0
  67  Fridge          -3.519         0.0            2.717          0              90             0
  68  Window          -1.394         1.924          0.014          90             0              0
  69  Window          -3.266         1.924          0.014          90             0              0
  70  Toaster         -0.225         1.038          2.865          0              270            0
  71  GarbageCan      -3.696         0.002          2.008          0              0              0
  72  SinkBasin       -1.389         0.921          0.428          0              0              0
  73  Microwave       -0.366         1.113          0.430          0              0              0
  74  HousePlant      -2.155         1.101          0.169          0              332.897        0
  75  LightSwitch     -2.584         1.299          3.5            0              180            0
  76  Faucet          -1.393         1.373          0.168          0              270            0
  77  NorthWall
  78  SouthWall
  79  SouthWall

Plan:
STEP 1: Move towards the sink ahead and to the right | STEP 2: Pick up the knife from inside the sink | STEP 3: Turn around and move to the fridge to the left | STEP 4: Open the fridge, cut the lettuce in the fridge and then close the fridge | STEP 5: Turn around and go back to the sink | STEP 6: Put the knife in the sink to the right of the small potato | STEP 7: Move back to the fridge behind and to the left | STEP 8: Open the fridge, remove a slice of lettuce and then close the fridge | STEP 9: Move towards the stove to the left | STEP 10: Put the lettuce in the pot on the stove | STEP 11: Pick up the pot with the lettuce inside | STEP 12: Turn left and move to the sink to the right of the microwave | STEP 13: Put the pot in the sink | END