Task: put a clean slice of lettuce on to 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           -1.5           0.901          -2.5           0              90             0
   1  Pan             -0.165         0.975          -2.450         0              0              0              74
   2  Potato          -3.234         1.057          -2.064         0              90             0              83
   3  Potato          -3.182         0.685          -2.002         0              90             0              83
   4  DishSponge      -0.412         0.745          -2.913         0              0              0              72
   5  ButterKnife     -0.328         0.913          -2.811         0              0              0              42
   6  Spatula         -0.243         0.928          -3.804         0              0              0              42
   7  Spoon           -3.561         0.914          -2.926         0              90             0              42
   8  Fork            -2.740         0.714          -0.211         0              90             0              86
   9  SoapBottle      -2.581         0.713          -0.433         0              270            0              86
  10  SoapBottle      -3.155         0.716          -0.608         0              225            0              86
  11  Bowl            -1.569         0.080          -3.634         0              0              0              58
  12  Bowl            -0.419         0.913          -1.432         0              0              0              69
  13  SaltShaker      -0.502         0.742          -3.347         0              0              0              70
  14  SaltShaker      -2.664         0.710          -0.294         0              225            0              86
  15  PepperShaker    -2.608         0.710          -0.150         0              225            0              86
  16  PepperShaker    -0.014         0.912          -0.507         0              0              0              69
  17  Lettuce         -3.079         1.486          -2.064         0              90             0              83
  18  Bread           -2.708         0.757          -0.741         0              135            0              86
  19  Mug             -2.930         0.763          -0.358         0              135            0              82
  20  Apple           -1.914         0.833          -3.832         0              0              0              84
  21  Pot             -0.412         0.916          -3.213         0              180            0              42
  22  Egg             -2.987         0.949          -3.581         0              0              0              42
  23  Cup             -3.182         0.641          -2.187         0              90             0              83
  24  Bread           -2.990         0.754          -0.780         0              0              0              86
  25  Fork            -0.419         0.916          -0.507         0              0              0              69
  26  Pan             -0.165         0.975          -2.030         0              180            0              73
  27  Potato          -2.803         0.760          -0.922         0              0              0              86
  28  Lettuce         -1.324         0.988          -3.759         1.621          253.789        357.313        42
  29  Tomato          -2.865         0.766          -0.069         0              0              0              86
  30  Apple           -0.189         1.055          -0.802         0              270            0              79
  31  SoapBottle      -0.338         0.915          -1.677         0              0              0              69
  32  Spatula         -0.095         0.930          -1.616         0              90             0              69
  33  SaltShaker      -2.270         0.910          -3.655         0              0              0              42
  34  Knife           -2.865         0.749          -0.780         0              0              0              86
  35  PepperShaker    -2.100         0.078          -3.674         0              0              0              63
  36  ButterKnife     -2.721         0.717          -0.552         0              135            0              86
  37  Plate           -3.225         0.911          -3.126         0              0              0              42
  38  DishSponge      -3.292         0.713          -0.558         0              270            0              86
  39  Spoon           -3.199         0.747          -3.023         0              90             0              64
  40  Mug             -3.286         1.008          -1.941         0              90             0              83
  41  Bowl            -3.176         1.865          -2.450         0              0              0              51
  42  CounterTop      -1.789         0.949          -3.803         0              0              0
  43  Cabinet         -0.577         0.388          -3.476         0              0              0
  44  Cabinet         -0.605         0.388          -3.511         0              0              0
  45  Cabinet         -2.976         0.388          -3.201         0              0              0
  46  Cabinet         -0.577         0.388          -0.447         0              0              0
  47  Cabinet         -0.577         0.388          -1.725         0              0              0
  48  Cabinet         -0.226         1.803          -1.743         0              0              0
  49  Cabinet         -0.228         1.799          -0.447         0              0              0
  50  Cabinet         -6.010         1.139          -6.019         0              0              0
  51  Cabinet         -3.022         2.098          -2.681         0              0              0
  52  Cabinet         -3.022         2.098          -1.743         0              0              0
  53  Cabinet         -0.577         0.388          -2.736         0              0              0
  54  Cabinet         -3.232         1.803          -3.343         0              0              0
  55  Cabinet         -2.811         1.810          -3.764         0              0              0
  56  Cabinet         -1.233         1.810          -3.764         0              0              0
  57  Cabinet         -1.364         0.388          -3.511         0              0              0
  58  Cabinet         -1.380         0.388          -3.511         0              0              0
  59  Cabinet         -0.226         1.803          -2.725         0              0              0
  60  Cabinet         -0.236         2.098          -1.767         0              0              0
  61  Cabinet         -0.236         2.098          -2.705         0              0              0
  62  Cabinet         -0.193         1.210          -4.239         0              0              0
  63  Cabinet         -2.148         0.388          -3.511         0              0              0
  64  Drawer          -3.104         0.797          -2.968         0              0              0
  65  Drawer          -0.449         0.797          -1.410         0              0              0
  66  Sink            -1.786         0.902          -3.748         0              0              0
  67  StoveBurner     -0.376         0.936          -2.451         0              0              0
  68  Drawer          -0.449         0.797          -0.762         0              0              0
  69  CounterTop      -0.268         0.951          -1.089         0              0              0
  70  Drawer          -0.449         0.797          -3.348         0              0              0
  71  StoveBurner     -0.376         0.936          -2.031         0              180            0
  72  Drawer          -0.449         0.797          -2.968         0              0              0
  73  StoveBurner     -0.165         0.936          -2.030         0              180            0
  74  StoveBurner     -0.165         0.936          -2.450         0              0              0
  75  StoveKnob       -0.568         0.903          -2.313         45             270            0
  76  StoveKnob       -0.568         0.903          -2.470         45             270            0
  77  StoveKnob       -0.568         0.903          -2.166         45             270            0
  78  StoveKnob       -0.568         0.903          -2.003         45             270            0
  79  Microwave       -0.143         0.903          -0.908         0              270            0
  80  LightSwitch     -1.108         1.457          0.338          0              180            0
  81  GarbageCan      -0.283         -0.032         -0.035         0              270            0
  82  CoffeeMachine   -3.104         0.837          -0.185         0              135            0
  83  Fridge          -3.188         0.0            -2.184         0              0              0
  84  SinkBasin       -1.786         0.779          -3.747         0              0              0
  85  Toaster         -0.230         0.903          -3.406         0              270            0
  86  DiningTable     -2.800         0.003          -0.505         0              0              0
  87  Chair           -3.044         0.003          -1.223         0              32.194         0
  88  Faucet          -1.791         1.136          -3.913         0              270            0
  89  NorthWall
  90  EastWall
  91  SouthWall
  92  WestWall

Plan:
STEP 1: move forward facing the counter that is to the right of the stove | STEP 2: pick up the butter knife that is on the counter to the right of the stove | STEP 3: turn to the right and move slightly to the right to face the head of lettuce on the counter | STEP 4: cut the head of lettuce that is on the counter with the knife | STEP 5: turn to the right staying in place | STEP 6: put the knife on to the counter in front of the head of lettuce | STEP 7: turn to the left to face the counter with the head of lettuce | STEP 8: pick up the end slice of the lettuce from the counter | STEP 9: move to the right to face the sink | STEP 10: put the lettuce slice in to the sink, turn on the faucet to rinse off the slice, turn off the water and pick up the lettuce slice from the sink | STEP 11: move to the left to face the counter to the left of the sink and to the left of the remaining head of lettuce and turn to the right | STEP 12: put the slice of lettuce on to the counter to the right of the sink next to the salt shaker | END