Task: Slice lettuce, clean lettuce, put lettuce on counter.

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            0.900          2.25           0              180            0
   1  Potato          -2.538         0.947          0.331          0              0              0              70
   2  ButterKnife     -0.211         0.910          0.423          0              0              0              42
   3  ButterKnife     1.684          0.911          0.465          0              0              0              51
   4  Kettle          0.373          1.664          -1.802         0              0              0              49
   5  Spoon           1.512          0.912          0.494          0              0              0              51
   6  Spatula         -2.372         0.925          1.230          0              0              0              70
   7  Spatula         1.407          0.937          -1.185         0              45             0              56
   8  Cup             1.769          0.908          0.346          0              0              0              51
   9  Tomato          1.415          0.960          -1.247         0              225            0              56
  10  Bowl            -2.645         1.534          0.052          0              0              0              65
  11  Bowl            -2.455         0.908          1.530          0              0              0              70
  12  PepperShaker    -0.211         0.905          1.764          0              0              0              42
  13  SaltShaker      -2.372         0.905          0.631          0              0              0              70
  14  SaltShaker      1.855          0.905          -0.684         0              0              0              52
  15  Lettuce         0.048          0.994          1.764          0              0              0              42
  16  Mug             0.464          0.955          -1.593         0              0              0              52
  17  Mug             -2.669         0.173          -0.570         0              90             0              74
  18  Apple           -0.211         0.972          1.540          0              0              0              42
  19  Pan             0.0            0.9            0.948          0              29.999         0              42
  20  Knife           -2.289         0.936          0.631          0              90             0              70
  21  Apple           -2.393         1.150          -0.507         0              90             0              74
  22  Bowl            -0.211         0.908          1.317          0              0              0              42
  23  Fork            -0.601         0.911          0.647          0              0              0              42
  24  Bread           -2.485         1.175          -0.979         0              90             0              74
  25  Plate           -2.351         0.900          0.054          0              0              0              70
  26  Egg             -2.334         0.240          -1.012         0              90             0              74
  27  Kettle          1.412          0.929          -0.335         0              0              0              43
  28  Potato          1.461          0.954          -1.131         0              225            0              56
  29  SaltShaker      0.683          0.905          -1.539         0              0              0              52
  30  Lettuce         -0.471         0.994          1.764          0              0              0              42
  31  Cup             -2.704         0.908          0.331          0              0              0              70
  32  SoapBottle      -2.564         1.539          1.192          0              0              0              55
  33  Spatula         -2.348         0.789          1.274          0              90             0              73
  34  PaperTowelRoll  0.845          1.015          -1.604         0              45             0              52
  35  ButterKnife     -2.538         0.910          0.931          0              0              0              70
  36  PepperShaker    1.698          1.658          -0.622         0              0              0              62
  37  DishSponge      1.562          0.184          0.679          0              0              0              81
  38  Pot             1.734          1.660          0.018          0              0              0              61
  39  Spoon           1.684          0.912          0.465          0              0              0              51
  40  Tomato          -2.393         1.342          -1.074         0              90             0              74
  41  Mug             -2.310         0.109          0.026          0              0              0              58
  42  CounterTop      -0.360         0.946          1.093          0              0              0
  43  StoveBurner     1.412          0.923          -0.335         0              0              0
  44  StoveKnob       1.878          1.093          0.018          287.989        90             0
  45  StoveKnob       1.878          1.093          -0.306         287.989        90             0
  46  Cabinet         -2.446         1.948          2.924          0              0              0
  47  Drawer          -2.276         0.792          0.902          0              0              0
  48  Cabinet         -2.145         0.402          1.578          0              0              0
  49  Cabinet         0.149          2.008          -1.603         0              90             0
  50  StoveBurner     1.691          0.923          -0.335         0              0              0
  51  CounterTop      1.585          0.946          0.405          0              0              0
  52  CounterTop      0.474          0.946          -1.625         0              0              0
  53  StoveBurner     1.691          0.923          0.064          0              0              0
  54  Cabinet         -2.446         1.948          1.687          0              0              0
  55  Cabinet         -2.446         1.948          1.640          0              0              0
  56  Sink            1.381          0.810          -1.271         0              225            0
  57  StoveKnob       1.878          1.093          0.150          287.989        90             0
  58  Cabinet         -2.145         0.402          -0.236         0              0              0
  59  Drawer          -2.276         0.792          0.437          0              0              0
  60  Drawer          -2.276         0.792          -0.027         0              0              0
  61  Cabinet         1.572          2.008          0.474          0              0              0
  62  Cabinet         1.572          2.008          -0.775         0              0              0
  63  Cabinet         -2.445         2.148          -1.275         0              0              0
  64  Cabinet         -2.446         2.148          -0.284         0              0              0
  65  Cabinet         -2.446         1.948          0.355          0              0              0
  66  Cabinet         -2.446         1.948          0.405          0              0              0
  67  Cabinet         -2.145         0.402          0.644          0              0              0
  68  Cabinet         -2.145         0.402          0.695          0              0              0
  69  Cabinet         -2.285         1.968          -1.325         0              180            0
  70  CounterTop      -1.485         0.946          1.319          0              0              0
  71  StoveBurner     1.411          0.923          0.064          0              0              0
  72  StoveKnob       1.878          1.093          -0.441         287.989        90             0
  73  Drawer          -2.276         0.792          1.368          0              0              0
  74  Fridge          -2.475         0.0            -0.782         0              90             0
  75  LightSwitch     -0.929         1.350          -1.950         0              0              0
  76  Toaster         -2.564         0.900          1.876          0              90             0
  77  CoffeeMachine   0.464          0.900          -1.810         0              0              0
  78  Window          1.508          1.534          -1.496         90             135            0
  79  Window          1.973          1.521          1.121          90             90             0
  80  SinkBasin       1.149          0.753          -1.380         0              225            0
  81  GarbageCan      1.646          -0.000         0.679          0              0              0
  82  Microwave       -2.580         0.900          2.440          0              90             0
  83  Stool           0.439          0.010          0.747          0              0              0
  84  Stool           -2.303         0.010          1.839          0              0              0
  85  Faucet          1.235          1.138          -1.473         0              225            0
  86  NorthWall
  87  EastWall
  88  SouthWall
  89  WestWall

Plan:
STEP 1: Turn right then left, proceed to counter.  Turn left to face counter, stove on right and garbage can on left. | STEP 2: Pick up knife off counter, directly next to spoon closest to wall and cup. | STEP 3: Turn right, proceed to counter. | STEP 4: Slice lettuce below apple and pepper grinder. | STEP 5: Turn around to face garbage can. | STEP 6: Put knife in garbage can to the right. | STEP 7: Turn around to face counter with lettuce on it. | STEP 8: Pick up middle slice of lettuce from counter, below pepper grinder. | STEP 9: Turn left, proceed to sink, turn left to face sink. | STEP 10: Put slice of lettuce in right side of sink, fill sink with water and drain water, pick lettuce up. | STEP 11: Turn around, proceed to end of counter, turn right to face counter and garbage can. | STEP 12: Place lettuce slice on counter, directly to the right of the lower spoon, left of stove. | END