Task: Slice some lettuce and cool it in the refrigerator for disposal

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  Potato          0.363          1.819          1.520          0              180            0              106
   2  Potato          2.900          1.323          -0.512         0              0              0              103
   3  DishSponge      0.053          0.765          -0.596         0              0              0              105
   4  ButterKnife     -0.621         0.820          -1.257         0              90             0              107
   5  ButterKnife     2.754          0.911          1.214          0              0              0              83
   6  Spoon           -0.103         0.912          1.044          0              0              0              59
   7  Spatula         1.955          0.926          1.129          0              0              0              83
   8  Spatula         0.054          0.926          -0.330         0              0              0              48
   9  Egg             -1.933         0.461          1.247          0              270            0              101
  10  Egg             -0.734         0.858          -1.328         0              0              0              107
  11  Knife           -0.055         0.944          1.299          0              90             0              59
  12  Knife           0.193          0.798          -0.651         0              0              0              105
  13  SoapBottle      1.216          1.661          1.546          0              0              0              75
  14  SoapBottle      2.754          0.917          1.468          0              0              0              83
  15  Tomato          0.349          0.942          -0.316         0              0              0              48
  16  Tomato          -0.990         0.852          -1.328         0              0              0              107
  17  Bowl            1.155          0.909          1.383          0              0              0              83
  18  SaltShaker      2.221          0.908          1.044          0              0              0              83
  19  PepperShaker    -0.682         0.817          -1.473         0              0              0              107
  20  Bread           2.221          0.969          1.468          0              0              0              83
  21  Bread           2.777          1.621          -0.709         0              0              0              103
  22  Lettuce         2.488          0.992          1.468          0              0              0              83
  23  Mug             -0.839         0.815          -1.360         0              270            0              107
  24  Apple           2.653          0.795          -0.535         0              0              0              103
  25  SoapBottle      2.524          1.661          1.468          0              0              0              73
  26  Plate           2.211          0.902          -0.462         0              0              0              48
  27  Fork            1.072          0.771          -0.422         0              270            0              67
  28  Pot             0.888          0.915          -0.515         0              0              0              48
  29  Bread           2.488          0.969          1.129          0              0              0              83
  30  Egg             -1.933         0.461          1.417          0              270            0              101
  31  Kettle          1.422          0.912          1.299          0              0              0              83
  32  Tomato          -0.198         0.942          1.044          0              0              0              59
  33  Cup             2.962          1.561          -0.512         0              0              0              103
  34  Spatula         -0.911         0.835          -1.206         0              180            0              107
  35  Apple           0.518          1.853          1.455          0              180            0              106
  36  Pan             0.281          0.964          1.082          0              0              0              54
  37  Lettuce         -0.151         0.992          1.383          0              0              0              59
  38  SaltShaker      0.480          1.650          -0.849         0              180            0              87
  39  Knife           -1.056         0.853          -1.257         0              90             0              107
  40  Potato          2.838          1.053          -0.775         0              0              0              103
  41  PepperShaker    -0.142         0.908          -0.316         0              0              0              48
  42  ButterKnife     1.688          0.911          1.214          0              0              0              83
  43  Bowl            2.223          0.112          1.119          0              0              0              84
  44  DishSponge      1.597          1.655          -0.810         0              180            0              70
  45  Spoon           1.688          0.912          1.214          0              0              0              83
  46  Mug             2.900          1.283          -0.840         0              0              0              103
  47  Sink            0.050          0.902          -0.648         0              0              0
  48  CounterTop      1.358          0.947          -0.600         0              0              0
  49  Cabinet         2.986          2.009          1.304          0              0              0
  50  Cabinet         1.022          2.009          -0.607         0              180            0
  51  StoveBurner     0.678          0.923          1.082          0              0              0
  52  Cabinet         2.371          0.402          0.995          0              0              0
  53  Drawer          -0.125         0.792          0.995          0              0              0
  54  StoveBurner     0.281          0.923          1.082          0              0              0
  55  Cabinet         1.025          0.402          0.995          0              0              0
  56  Cabinet         1.023          0.402          -0.296         0              180            0
  57  Cabinet         0.974          2.259          1.304          0              0              0
  58  Cabinet         0.979          2.009          -0.607         0              180            0
  59  CounterTop      -0.158         0.947          1.299          0              0              0
  60  Cabinet         1.725          2.009          1.304          0              0              0
  61  Drawer          2.205          0.792          -0.294         0              180            0
  62  Drawer          1.869          0.792          -0.294         0              180            0
  63  StoveBurner     0.281          0.923          1.347          0              0              0
  64  Drawer          2.512          0.792          0.995          0              0              0
  65  Cabinet         1.673          0.402          -0.296         0              180            0
  66  Drawer          1.524          0.792          0.995          0              0              0
  67  Drawer          1.174          0.792          -0.294         0              180            0
  68  Cabinet         1.720          0.402          0.995          0              0              0
  69  Cabinet         2.348          2.009          -0.607         0              180            0
  70  Cabinet         1.676          2.009          -0.607         0              180            0
  71  Cabinet         1.673          2.009          1.304          0              0              0
  72  Cabinet         2.326          2.009          1.304          0              0              0
  73  Cabinet         2.370          2.009          1.304          0              0              0
  74  Cabinet         0.021          2.009          1.304          0              0              0
  75  Cabinet         1.025          2.009          1.304          0              0              0
  76  Cabinet         -0.274         0.402          0.995          0              0              0
  77  Cabinet         1.675          0.402          0.995          0              0              0
  78  Drawer          1.524          0.792          -0.294         0              180            0
  79  Drawer          2.187          0.792          0.995          0              0              0
  80  Cabinet         2.977          0.402          0.995          0              0              0
  81  Drawer          1.862          0.792          0.995          0              0              0
  82  Cabinet         0.072          2.259          1.304          0              0              0
  83  CounterTop      1.917          0.947          1.299          0              0              0
  84  Cabinet         2.328          0.402          0.995          0              0              0
  85  Cabinet         1.723          2.009          -0.607         0              180            0
  86  StoveBurner     0.677          0.923          1.345          0              0              0
  87  Cabinet         0.355          2.009          -0.607         0              180            0
  88  Cabinet         0.332          2.009          -0.607         0              180            0
  89  Cabinet         2.349          0.402          -0.296         0              180            0
  90  Cabinet         -0.284         2.009          -0.607         0              180            0
  91  Faucet          0.061          0.906          -0.903         0              0              0
  92  Drawer          2.837          0.792          0.995          0              0              0
  93  Drawer          1.175          0.792          0.995          0              0              0
  94  Cabinet         1.723          0.402          -0.296         0              180            0
  95  StoveKnob       0.588          1.093          1.557          287.970        0              0
  96  StoveKnob       0.188          1.093          1.557          287.970        0              0
  97  StoveKnob       0.749          1.093          1.557          287.970        0              0
  98  StoveKnob       0.338          1.093          1.557          287.970        0              0
  99  Toaster         1.934          0.900          -0.717         0              0              0
 100  LightSwitch     -1.662         1.427          1.649          0              180            0
 101  GarbageCan      -1.965         -0.029         1.358          0              270            0
 102  CoffeeMachine   1.542          0.900          -0.751         0              0              0
 103  Fridge          3.043          0.0            -0.709         0              0              0
 104  Window          -2.183         1.501          -0.014         90             270            0
 105  SinkBasin       0.043          0.755          -0.651         0              0              0
 106  Microwave       0.531          1.675          1.437          0              180            0
 107  DiningTable     -0.836         8.404          -1.258         0              0              0
 108  Chair           -1.611         0.002          -1.185         0              45             0
 109  NorthWall
 110  EastWall
 111  SouthWall
 112  WestWall

Plan:
STEP 1: turn around, then go left and straight to the wall. Then look left at the counter top | STEP 2: pick up the knife to the right of the bread | STEP 3: face the lettuce on the counter top | STEP 4: slice the lettuce on the counter top | STEP 5: turn around and face the refrigerator | STEP 6: open the door and place the knife in front of the apple | STEP 7: turn around and face the opposite counter top | STEP 8: pick up a slice of lettuce on the counter top | STEP 9: return to the refrigerator  | STEP 10: place the lettuce in the refrigerator on the top shelf, close the door for a few seconds, and then take the lettuce out of the refrigerator | STEP 11: go to the window on the other side of the room and face the  bin | STEP 12: throw the lettuce in the bin | END