Task: Putting clean sliced lettuce on a counter

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -2.0           0.901          -0.25          0              0              0
   1  DishSponge      -0.160         0.913          -3.213         0              0              0              42
   2  DishSponge      -3.225         0.913          -3.327         0              0              0              42
   3  ButterKnife     -1.262         0.913          -3.729         0              0              0              42
   4  ButterKnife     -2.629         0.913          -3.878         0              0              0              42
   5  Spatula         -1.058         0.928          -3.878         0              0              0              42
   6  Spoon           -0.419         0.917          -0.507         0              0              0              69
   7  Egg             -2.753         0.749          -0.206         0              225            0              86
   8  Egg             -1.569         0.826          -3.661         0              0              0              84
   9  Cup             -3.130         1.399          -1.879         0              90             0              83
  10  Plate           -0.792         1.291          -3.966         0              0              0              56
  11  Plate           -0.374         0.078          -0.605         0              0              0              46
  12  Knife           -2.987         0.946          -3.952         0              90             0              42
  13  Tomato          -2.723         0.766          -0.496         0              270            0              86
  14  SoapBottle      -2.439         0.713          -0.308         0              90             0              86
  15  PepperShaker    -0.338         0.912          -1.432         0              0              0              69
  16  Lettuce         -2.740         0.804          -0.780         0              0              0              86
  17  Bread           -0.412         0.954          -2.911         0              0              0              42
  18  Bread           -3.022         0.757          -0.741         0              225            0              86
  19  Apple           -0.500         0.958          -0.507         0              0              0              69
  20  Apple           -2.740         0.756          -0.069         0              0              0              86
  21  Pot             -3.140         0.916          -2.926         0              90             0              42
  22  Egg             -3.079         1.434          -2.064         0              90             0              83
  23  Cup             -0.014         0.916          -1.370         0              0              0              69
  24  Bread           -0.327         0.948          -3.681         0              298.222        0              42
  25  Fork            -0.243         0.914          -3.952         0              0              0              42
  26  Pan             -0.376         0.975          -2.031         0              180            0              71
  27  Potato          -1.845         0.834          -3.832         0              0              0              84
  28  Lettuce         -2.475         0.804          -0.709         0              135            0              86
  29  Tomato          -3.234         1.063          -2.002         0              90             0              83
  30  Apple           -3.182         1.441          -2.002         0              90             0              83
  31  SoapBottle      -2.865         0.716          -0.496         0              225            0              86
  32  Spatula         -3.056         0.928          -3.126         0              0              0              42
  33  SaltShaker      -3.292         0.713          -0.370         0              270            0              86
  34  Knife           -2.934         0.746          -0.829         0              315            0              86
  35  PepperShaker    -3.374         1.864          -2.450         0              0              0              51
  36  ButterKnife     -0.419         0.916          -1.555         0              0              0              69
  37  Plate           -0.450         0.080          -3.348         0              0              0              43
  38  DishSponge      -0.328         0.913          -3.213         0              0              0              42
  39  Spoon           -2.629         0.914          -3.878         0              0              0              42
  40  Mug             -0.102         1.863          -1.833         0              270            0              60
  41  Bowl            -0.450         0.078          -3.024         0              0              0              53
  42  CounterTop      -1.789         0.949          -3.803         0              0              0
  43  Cabinet         -0.577         0.388          -3.476         0              0              0
  44  Cabinet         -0.605         0.388          -3.511         0              0              0
  45  Cabinet         -2.976         0.388          -3.201         0              0              0
  46  Cabinet         -0.577         0.388          -0.447         0              0              0
  47  Cabinet         -0.577         0.388          -1.725         0              0              0
  48  Cabinet         -0.226         1.803          -1.743         0              0              0
  49  Cabinet         -0.228         1.799          -0.447         0              0              0
  50  Cabinet         -6.010         1.139          -6.019         0              0              0
  51  Cabinet         -3.022         2.098          -2.681         0              0              0
  52  Cabinet         -3.022         2.098          -1.743         0              0              0
  53  Cabinet         -0.577         0.388          -2.736         0              0              0
  54  Cabinet         -3.232         1.803          -3.343         0              0              0
  55  Cabinet         -2.811         1.810          -3.764         0              0              0
  56  Cabinet         -1.233         1.810          -3.764         0              0              0
  57  Cabinet         -1.364         0.388          -3.511         0              0              0
  58  Cabinet         -1.380         0.388          -3.511         0              0              0
  59  Cabinet         -0.226         1.803          -2.725         0              0              0
  60  Cabinet         -0.236         2.098          -1.767         0              0              0
  61  Cabinet         -0.236         2.098          -2.705         0              0              0
  62  Cabinet         -0.193         1.210          -4.239         0              0              0
  63  Cabinet         -2.148         0.388          -3.511         0              0              0
  64  Drawer          -3.104         0.797          -2.968         0              0              0
  65  Drawer          -0.449         0.797          -1.410         0              0              0
  66  Sink            -1.786         0.902          -3.748         0              0              0
  67  StoveBurner     -0.376         0.936          -2.451         0              0              0
  68  Drawer          -0.449         0.797          -0.762         0              0              0
  69  CounterTop      -0.268         0.951          -1.089         0              0              0
  70  Drawer          -0.449         0.797          -3.348         0              0              0
  71  StoveBurner     -0.376         0.936          -2.031         0              180            0
  72  Drawer          -0.449         0.797          -2.968         0              0              0
  73  StoveBurner     -0.165         0.936          -2.030         0              180            0
  74  StoveBurner     -0.165         0.936          -2.450         0              0              0
  75  StoveKnob       -0.568         0.903          -2.313         45             270            0
  76  StoveKnob       -0.568         0.903          -2.470         45             270            0
  77  StoveKnob       -0.568         0.903          -2.166         45             270            0
  78  StoveKnob       -0.568         0.903          -2.003         45             270            0
  79  Microwave       -0.143         0.903          -0.908         0              270            0
  80  LightSwitch     -1.108         1.457          0.338          0              180            0
  81  GarbageCan      -0.283         -0.032         -0.035         0              270            0
  82  CoffeeMachine   -3.104         0.837          -0.185         0              135            0
  83  Fridge          -3.188         0.0            -2.184         0              0              0
  84  SinkBasin       -1.786         0.779          -3.747         0              0              0
  85  Toaster         -0.230         0.903          -3.406         0              270            0
  86  DiningTable     -2.800         0.003          -0.505         0              0              0
  87  Chair           -3.044         0.003          -1.223         0              32.194         0
  88  Faucet          -1.791         1.136          -3.913         0              270            0
  89  NorthWall
  90  EastWall
  91  SouthWall
  92  WestWall

Plan:
STEP 1: Turn around and go to the counter to the right of the sink | STEP 2: Grab the large knife off of the counter | STEP 3: Turn around and go to the round table | STEP 4: Cut the lettuce on the table into slices | STEP 5: Put the knife onto the table | STEP 6: Grab a slice of lettuce | STEP 7: Turn around and go to the sink | STEP 8: Wash the lettuce in the sink and take it out | STEP 9: Move to the left of the lettuce | STEP 10: Put the lettuce on the counter | END