Task: Slice the lettuce, grab a slice,  rinse it in the sink, put it in 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           0.75           0.900          1.0            0              0              0
   1  Pan             -2.289         0.910          0.331          0              0              0              73
   2  Pan             1.691          0.929          0.064          0              0              0              56
   3  Potato          1.562          0.221          0.706          0              0              0              84
   4  Potato          -0.341         0.947          1.764          0              0              0              45
   5  DishSponge      1.341          0.910          0.435          0              0              0              54
   6  ButterKnife     1.568          0.910          -0.767         0              45             0              55
   7  Spatula         -2.257         0.788          1.274          0              90             0              76
   8  Spatula         1.769          0.926          0.465          0              0              0              54
   9  Pot             1.411          0.929          0.064          0              0              0              74
  10  Pot             -2.455         0.914          1.230          0              0              0              73
  11  Egg             1.810          0.941          -0.865         0              0              0              55
  12  Egg             1.769          0.941          0.465          0              0              0              54
  13  Cup             -2.485         1.087          -0.979         0              90             0              77
  14  Cup             1.380          0.920          -1.212         0              225            0              59
  15  Plate           0.301          1.666          -1.766         0              90             0              52
  16  SoapBottle      1.496          0.920          -1.166         0              225            0              59
  17  Bowl            -0.081         0.908          1.540          0              0              0              45
  18  PepperShaker    -0.211         0.905          0.423          0              0              0              45
  19  SaltShaker      -2.534         1.928          -1.207         0              0              0              66
  20  Lettuce         -2.372         0.994          1.530          0              0              0              73
  21  Mug             0.683          0.905          -1.539         0              0              0              55
  22  Pan             0.0            0.9            0.948          0              29.999         0              45
  23  Knife           -2.227         0.798          0.857          0              90             0              50
  24  Apple           -2.485         1.362          -0.790         0              90             0              77
  25  Bowl            -2.289         0.908          0.631          0              0              0              73
  26  Fork            -2.206         0.911          1.830          0              90             0              73
  27  Bread           -0.471         0.996          1.317          0              0              0              45
  28  Plate           -0.341         0.913          0.647          0              0              0              45
  29  Egg             -2.347         1.119          -0.885         0              90             0              77
  30  Kettle          1.412          0.929          -0.335         0              0              0              46
  31  Potato          1.145          0.807          -1.376         0              225            0              83
  32  SaltShaker      -2.677         1.533          1.840          0              0              0              57
  33  Lettuce         0.048          0.994          1.317          0              0              0              45
  34  Cup             -0.081         0.908          1.317          0              0              0              45
  35  SoapBottle      -2.289         0.912          1.830          0              0              0              73
  36  Spatula         -2.318         0.789          0.391          0              90             0              62
  37  PaperTowelRoll  0.048          1.015          1.764          0              0              0              45
  38  ButterKnife     -2.455         0.910          0.931          0              0              0              73
  39  PepperShaker    -2.638         1.533          0.846          0              0              0              69
  40  DishSponge      -2.538         0.910          0.631          0              0              0              73
  41  Pot             1.735          1.667          -0.550         0              0              0              65
  42  Spoon           1.428          0.912          -0.810         0              0              0              59
  43  Tomato          -2.439         1.342          -1.074         0              90             0              77
  44  Mug             -2.669         0.173          -0.680         0              90             0              77
  45  CounterTop      -0.360         0.946          1.093          0              0              0
  46  StoveBurner     1.412          0.923          -0.335         0              0              0
  47  StoveKnob       1.878          1.093          0.018          287.989        90             0
  48  StoveKnob       1.878          1.093          -0.306         287.989        90             0
  49  Cabinet         -2.446         1.948          2.924          0              0              0
  50  Drawer          -2.276         0.792          0.902          0              0              0
  51  Cabinet         -2.145         0.402          1.578          0              0              0
  52  Cabinet         0.149          2.008          -1.603         0              90             0
  53  StoveBurner     1.691          0.923          -0.335         0              0              0
  54  CounterTop      1.585          0.946          0.405          0              0              0
  55  CounterTop      0.474          0.946          -1.625         0              0              0
  56  StoveBurner     1.691          0.923          0.064          0              0              0
  57  Cabinet         -2.446         1.948          1.687          0              0              0
  58  Cabinet         -2.446         1.948          1.640          0              0              0
  59  Sink            1.381          0.810          -1.271         0              225            0
  60  StoveKnob       1.878          1.093          0.150          287.989        90             0
  61  Cabinet         -2.145         0.402          -0.236         0              0              0
  62  Drawer          -2.276         0.792          0.437          0              0              0
  63  Drawer          -2.276         0.792          -0.027         0              0              0
  64  Cabinet         1.572          2.008          0.474          0              0              0
  65  Cabinet         1.572          2.008          -0.775         0              0              0
  66  Cabinet         -2.445         2.148          -1.275         0              0              0
  67  Cabinet         -2.446         2.148          -0.284         0              0              0
  68  Cabinet         -2.446         1.948          0.355          0              0              0
  69  Cabinet         -2.446         1.948          0.405          0              0              0
  70  Cabinet         -2.145         0.402          0.644          0              0              0
  71  Cabinet         -2.145         0.402          0.695          0              0              0
  72  Cabinet         -2.285         1.968          -1.325         0              180            0
  73  CounterTop      -1.485         0.946          1.319          0              0              0
  74  StoveBurner     1.411          0.923          0.064          0              0              0
  75  StoveKnob       1.878          1.093          -0.441         287.989        90             0
  76  Drawer          -2.276         0.792          1.368          0              0              0
  77  Fridge          -2.475         0.0            -0.782         0              90             0
  78  LightSwitch     -0.929         1.350          -1.950         0              0              0
  79  Toaster         -2.564         0.900          1.876          0              90             0
  80  CoffeeMachine   0.464          0.900          -1.810         0              0              0
  81  Window          1.508          1.534          -1.496         90             135            0
  82  Window          1.973          1.521          1.121          90             90             0
  83  SinkBasin       1.149          0.753          -1.380         0              225            0
  84  GarbageCan      1.646          -0.000         0.679          0              0              0
  85  Microwave       -2.580         0.900          2.440          0              90             0
  86  Stool           0.439          0.010          0.747          0              0              0
  87  Stool           -2.303         0.010          1.839          0              0              0
  88  Faucet          1.235          1.138          -1.473         0              225            0
  89  NorthWall
  90  EastWall
  91  SouthWall
  92  WestWall

Plan:
STEP 1: Walk towards the stove counter | STEP 2: Grab a knife from the counter | STEP 3: Walk towards the island counter | STEP 4: Slice the lettuce on the counter | STEP 5: Turn right and walk towards the trash can | STEP 6: Put the knife in the trash can | STEP 7: Walk towards the counter | STEP 8: Grab a slice of lettuce from the counter | STEP 9: Walk with the lettuce slice towards the sink | STEP 10: Put the lettuce slice in the sink, open the water, close it and take the lettuce slice | STEP 11: Walk with the lettuce slice towards the stove counter  | STEP 12: Put the lettuce slice on the counter | END