Task: put a clean slice of lettuce on 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           1.5            0.901          -0.25          0              180            0
   1  WineBottle      2.129          1.502          2.514          0              0              0              41
   2  WineBottle      -0.119         0.791          1.386          0              0              0              75
   3  Spatula         -0.196         0.805          0.377          0              0              0              75
   4  Spoon           1.815          0.746          1.922          0              90             0              63
   5  Spoon           1.941          0.747          0.652          0              0              0              57
   6  Fork            0.682          0.795          2.695          0              270            0              72
   7  Egg             2.132          0.380          -0.550         0              270            0              Floor|+02.38|
   8  Knife           -0.119         0.816          0.545          0              180            0              75
   9  Knife           -0.068         0.771          2.197          0              270            0              47
  10  Tomato          2.207          0.648          -0.278         0              270            0              69
  11  Tomato          -0.119         0.837          1.049          0              0              0              75
  12  Bowl            2.112          1.318          -0.369         0              270            0              69
  13  Bowl            2.207          0.599          -0.460         0              270            0              69
  14  SaltShaker      -0.425         0.785          1.049          0              0              0              75
  15  Lettuce         2.179          1.580          -0.369         0              0              0              69
  16  Lettuce         0.033          0.852          0.545          0              0              0              75
  17  Egg             -0.119         0.833          1.217          0              0              0              75
  18  Lettuce         2.179          1.580          -0.188         0              270            0              69
  19  Fork            2.074          0.938          2.162          0              0              0              48
  20  SoapBottle      -0.358         0.038          -0.864         0              90             0              70
  21  Ladle           -0.349         0.835          0.545          0              90             0              75
  22  Ladle           1.954          0.790          2.197          0              270            0              63
  23  Bread           -0.194         0.823          0.831          0              0              0              75
  24  SaltShaker      1.880          1.498          2.881          0              0              0              49
  25  Potato          2.158          0.901          -0.097         0              270            0              69
  26  Pan             2.140          0.935          1.504          0              180            0              43
  27  WineBottle      1.840          0.939          0.435          0              0              0              59
  28  Spatula         -0.272         0.805          1.049          0              90             0              75
  29  Knife           1.802          0.771          0.721          0              270            0              57
  30  Tomato          1.673          0.983          2.898          0              0              0              48
  31  Apple           2.000          1.371          -0.550         0              270            0              69
  32  ButterKnife     -0.042         0.791          1.049          0              0              0              75
  33  Pot             1.854          0.937          1.497          0              0              0              52
  34  PepperShaker    0.033          0.785          0.713          0              0              0              75
  35  Cup             1.923          0.080          0.372          0              0              0              45
  36  DishSponge      2.071          0.937          0.806          0              0              0              59
  37  Plate           1.298          0.085          2.523          0              0              0              54
  38  Spoon           -0.349         0.781          0.713          0              0              0              75
  39  Mug             -0.328         1.030          1.961          0              90             0              73
  40  Bowl            0.566          0.078          2.523          0              0              0              55
  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  around, move forward slightly and turn to the left to the white table | STEP 2: pick up the sharp yellow knife from the table that is under the head of lettuce | STEP 3: cut the head of lettuce with the knife | STEP 4: move slightly to the right to face the table in front of the loaf of bread | STEP 5: put the knife on the table in front of the loaf of bread | STEP 6: move slightly to the left to face the table in front of the head of lettuce | STEP 7: pick up a slice of the lettuce | STEP 8: turn to the right and move forward to the sink | STEP 9: put the slice of lettuce in to the sink, turn on the water to rinse it off, turn off the water and remove the slice of lettuce | STEP 10: turn around and move forward across the kitchen to the table on the right, turn right and move to the table | STEP 11: put the slice of lettuce on to the table in front of the tomato  | END