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           0.75           0.901          2.0            0              270            0
   1  Potato          2.148          0.978          0.361          0              90             0              59
   2  DishSponge      1.556          0.937          2.666          0              0              0              48
   3  ButterKnife     -0.042         0.791          1.049          0              0              0              75
   4  Pot             0.708          0.081          2.523          0              90             0              55
   5  Spoon           1.815          0.747          1.922          0              90             0              63
   6  Spoon           1.906          0.747          0.446          0              0              0              57
   7  Fork            -0.119         0.791          1.386          0              0              0              75
   8  Egg             2.250          0.644          -0.278         0              270            0              69
   9  Plate           2.059          0.342          -0.097         0              270            0              69
  10  SoapBottle      -0.425         0.791          0.881          0              0              0              75
  11  Tomato          -0.282         0.983          2.618          0              0              0              48
  12  Tomato          2.223          1.367          -0.188         0              270            0              69
  13  SaltShaker      -0.349         0.785          0.377          0              0              0              75
  14  Bread           2.112          1.371          -0.460         0              270            0              69
  15  Lettuce         -0.042         0.852          0.377          0              0              0              75
  16  Lettuce         0.033          0.852          0.881          0              0              0              75
  17  Egg             -0.362         1.078          2.014          0              90             0              73
  18  Lettuce         0.277          0.989          2.611          0              60.216         0              48
  19  Fork            1.917          0.938          0.435          0              0              0              59
  20  SoapBottle      0.033          0.791          0.545          0              0              0              75
  21  Ladle           -0.103         0.790          2.197          0              270            0              47
  22  Ladle           1.673          0.982          2.743          0              0              0              48
  23  Bread           -0.199         0.823          0.813          0              0              0              75
  24  SaltShaker      2.203          1.498          0.785          0              0              0              56
  25  Potato          2.158          0.901          -0.278         0              270            0              69
  26  Pan             2.140          0.935          1.504          0              180            0              43
  27  WineBottle      1.830          1.503          2.767          0              0              0              49
  28  Spatula         2.011          0.760          0.721          0              270            0              57
  29  Knife           -0.119         0.816          0.545          0              270            0              75
  30  Tomato          1.223          0.841          2.529          0              0              0              72
  31  Apple           -0.327         0.087          -0.769         0              90             0              70
  32  ButterKnife     1.660          0.926          2.473          0              352.515        0              48
  33  Pot             1.854          0.937          1.497          0              0              0              52
  34  PepperShaker    1.840          0.933          0.509          0              0              0              59
  35  Cup             2.304          0.935          2.359          0              0              0              48
  36  DishSponge      -0.119         0.790          1.217          0              0              0              75
  37  Plate           -0.312         0.781          0.409          0              0              0              75
  38  Spoon           1.954          0.747          2.060          0              0              0              63
  39  Mug             1.118          0.790          2.529          0              0              0              72
  40  Bowl            2.231          1.515          -0.097         0              270            0              69
  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 left, go forward, turn right to the table | STEP 2: Pick up the knife on the table | STEP 3: Move a bit to the right | STEP 4: Slice the lettuce on the table | STEP 5: Turn around, go forward a bit, turn left and go to the sink | STEP 6: Put the knife in the sink | STEP 7: Turn around, go forward a bit, turn right and go to the table | STEP 8: Pick up a lettuce slice from the table | STEP 9: Turn around, go forward a bit, turn left and go to the sink | STEP 10: Put the lettuce slice in the sink, wash the lettuce slice with water, pick up the lettuce slice from the sink | STEP 11: Turn around, go forward, turn right and go to the table | STEP 12: Put the lettuce slice on the table | END