Task: Slice a lettuce, wash a slice

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -2.5           0.901          -1.75          0              90             0
   1  Potato          -2.652         0.760          -0.105         0              225            0              82
   2  Spoon           -0.257         0.917          -1.555         0              0              0              65
   3  Spoon           -2.928         0.714          -0.780         0              90             0              82
   4  Fork            -2.581         0.714          -0.371         0              270            0              82
   5  Fork            -3.292         0.717          -0.433         0              270            0              82
   6  Egg             -0.039         0.949          -3.878         0              0              0              38
   7  Egg             -0.096         1.048          -0.851         0              270            0              75
   8  Cup             -0.452         0.080          -1.337         0              0              0              43
   9  Cup             -3.182         1.013          -1.941         0              90             0              79
  10  SoapBottle      -2.865         0.716          -0.069         0              0              0              82
  11  SoapBottle      -2.808         0.913          -3.952         0              0              0              38
  12  Bowl            -3.079         0.711          -0.886         0              225            0              82
  13  SaltShaker      -0.382         0.742          -2.913         0              0              0              68
  14  Bread           -3.150         0.754          -0.620         0              270            0              82
  15  Mug             -0.373         0.075          -2.795         0              270            0              49
  16  Mug             -1.914         0.785          -3.790         0              0              0              80
  17  Pot             -0.165         0.975          -2.030         0              180            0              69
  18  Egg             -0.158         1.048          -0.802         0              270            0              75
  19  Cup             -0.014         0.916          -1.309         0              0              0              65
  20  Bread           -3.309         0.954          -2.926         0              0              0              38
  21  Fork            -0.095         0.916          -1.616         0              0              0              65
  22  Pan             -0.160         0.912          -3.112         0              90             0              38
  23  Potato          -3.130         0.685          -1.941         0              90             0              79
  24  Lettuce         -1.324         0.988          -3.759         1.621          253.789        357.313        38
  25  Tomato          -1.776         0.840          -3.747         0              0              0              80
  26  Apple           -3.059         0.929          -2.531         0              90             0              79
  27  SoapBottle      -2.740         0.713          -0.922         0              0              0              82
  28  Spatula         -2.865         0.728          -0.922         0              90             0              82
  29  SaltShaker      -0.864         1.289          -3.927         0              0              0              52
  30  Knife           -3.024         0.779          -2.912         0              270            0              60
  31  PepperShaker    -0.412         0.742          -3.024         0              0              0              68
  32  ButterKnife     -3.167         0.913          -3.804         0              0              0              38
  33  Plate           -3.393         0.911          -3.227         0              0              0              38
  34  DishSponge      -2.519         0.713          -0.753         0              135            0              82
  35  Spoon           -3.346         0.914          -3.804         0              0              0              38
  36  Mug             -0.419         0.910          -0.507         0              0              0              65
  37  Bowl            -2.620         0.714          -0.652         0              135            0              82
  38  CounterTop      -1.789         0.949          -3.803         0              0              0
  39  Cabinet         -0.577         0.388          -3.476         0              0              0
  40  Cabinet         -0.605         0.388          -3.511         0              0              0
  41  Cabinet         -2.976         0.388          -3.201         0              0              0
  42  Cabinet         -0.577         0.388          -0.447         0              0              0
  43  Cabinet         -0.577         0.388          -1.725         0              0              0
  44  Cabinet         -0.226         1.803          -1.743         0              0              0
  45  Cabinet         -0.228         1.799          -0.447         0              0              0
  46  Cabinet         -6.010         1.139          -6.019         0              0              0
  47  Cabinet         -3.022         2.098          -2.681         0              0              0
  48  Cabinet         -3.022         2.098          -1.743         0              0              0
  49  Cabinet         -0.577         0.388          -2.736         0              0              0
  50  Cabinet         -3.232         1.803          -3.343         0              0              0
  51  Cabinet         -2.811         1.810          -3.764         0              0              0
  52  Cabinet         -1.233         1.810          -3.764         0              0              0
  53  Cabinet         -1.364         0.388          -3.511         0              0              0
  54  Cabinet         -1.380         0.388          -3.511         0              0              0
  55  Cabinet         -0.226         1.803          -2.725         0              0              0
  56  Cabinet         -0.236         2.098          -1.767         0              0              0
  57  Cabinet         -0.236         2.098          -2.705         0              0              0
  58  Cabinet         -0.193         1.210          -4.239         0              0              0
  59  Cabinet         -2.148         0.388          -3.511         0              0              0
  60  Drawer          -3.104         0.797          -2.968         0              0              0
  61  Drawer          -0.449         0.797          -1.410         0              0              0
  62  Sink            -1.786         0.902          -3.748         0              0              0
  63  StoveBurner     -0.376         0.936          -2.451         0              0              0
  64  Drawer          -0.449         0.797          -0.762         0              0              0
  65  CounterTop      -0.268         0.951          -1.089         0              0              0
  66  Drawer          -0.449         0.797          -3.348         0              0              0
  67  StoveBurner     -0.376         0.936          -2.031         0              180            0
  68  Drawer          -0.449         0.797          -2.968         0              0              0
  69  StoveBurner     -0.165         0.936          -2.030         0              180            0
  70  StoveBurner     -0.165         0.936          -2.450         0              0              0
  71  StoveKnob       -0.568         0.903          -2.313         45             270            0
  72  StoveKnob       -0.568         0.903          -2.470         45             270            0
  73  StoveKnob       -0.568         0.903          -2.166         45             270            0
  74  StoveKnob       -0.568         0.903          -2.003         45             270            0
  75  Microwave       -0.143         0.903          -0.908         0              270            0
  76  LightSwitch     -1.108         1.457          0.338          0              180            0
  77  GarbageCan      -0.283         -0.032         -0.035         0              270            0
  78  CoffeeMachine   -3.104         0.837          -0.185         0              135            0
  79  Fridge          -3.188         0.0            -2.184         0              0              0
  80  SinkBasin       -1.786         0.779          -3.747         0              0              0
  81  Toaster         -0.230         0.903          -3.406         0              270            0
  82  DiningTable     -2.800         0.003          -0.505         0              0              0
  83  Chair           -3.044         0.003          -1.223         0              32.194         0
  84  Faucet          -1.791         1.136          -3.913         0              270            0
  85  NorthWall
  86  EastWall
  87  SouthWall
  88  WestWall

Plan:
STEP 1: Turn right, go to the counter | STEP 2: Pick up the knife the counter | STEP 3: Turn left, go past the sink, turn right | STEP 4: Slice the lettuce on the counter | STEP 5: Move a bit to the left | STEP 6: Put the knife on the counter | STEP 7: Move a bit to the right | STEP 8: Pick up a lettuce slice from the counter | STEP 9: Go to the sink | STEP 10: Put the lettuce slice in the sink, wash the lettuce slice with water, pick up the lettuce slice | STEP 11: Move to the left of the sink, turn right | STEP 12: Put the lettuce slice to right of the sink | END