Task: Slice a lettuce, cool 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           0.0            0.900          2.0            0              270            0
   1  DishSponge      0.650          0.822          2.285          0              0              0              52
   2  ButterKnife     -1.336         0.823          3.535          0              0              0              70
   3  ButterKnife     -1.317         0.900          1.349          0              90             0              88
   4  Fork            -0.524         0.901          1.143          0              90             0              88
   5  Egg             1.099          0.859          0.939          0              0              0              47
   6  Egg             -2.448         0.755          1.917          0              90             0              79
   7  Cup             -1.853         1.683          3.858          0              0              0              42
   8  SoapBottle      -1.293         0.127          3.674          0              0              0              67
   9  SoapBottle      -0.921         0.900          1.349          0              90             0              88
  10  Tomato          -0.524         0.969          1.555          0              90             0              88
  11  Bowl            -0.524         0.898          1.349          0              90             0              88
  12  Bowl            -2.117         0.125          3.673          0              0              0              73
  13  PepperShaker    -2.709         1.395          3.818          0              0              0              61
  14  PepperShaker    -2.628         0.123          3.273          0              0              0              71
  15  Lettuce         0.875          0.898          2.458          0              0              0              52
  16  Mug             -1.109         0.940          1.203          0              0              0              88
  17  Mug             -0.789         0.895          1.555          0              180            0              88
  18  Apple           -2.461         1.252          2.446          0              90             0              79
  19  Plate           -1.255         1.687          3.897          0              0              0              75
  20  Fork            -1.457         0.823          3.535          0              0              0              70
  21  Bread           -2.577         0.820          2.277          0              90             0              79
  22  Spatula         -1.053         0.915          1.349          0              0              0              88
  23  PaperTowelRoll  0.875          0.927          1.028          0              0              0              47
  24  Potato          0.960          0.067          2.918          0              0              0              81
  25  SoapBottle      1.024          0.822          1.028          0              0              0              47
  26  Egg             -2.752         1.031          2.109          0              90             0              79
  27  Cup             -1.309         0.697          3.733          0              0              0              82
  28  Pot             0.642          0.850          1.375          0              0              0              64
  29  SaltShaker      -0.657         0.896          1.040          0              90             0              88
  30  Pan             -2.667         0.812          3.74           0              137.145        0              70
  31  PepperShaker    0.725          0.819          2.631          0              0              0              52
  32  ButterKnife     0.725          0.823          2.198          0              0              0              52
  33  Tomato          -1.317         0.969          1.143          0              90             0              88
  34  DishSponge      -2.862         1.398          3.858          0              0              0              61
  35  Lettuce         -1.185         0.976          1.452          0              90             0              88
  36  Spoon           0.950          0.824          2.458          0              90             0              44
  37  Apple           -2.519         1.252          2.109          0              90             0              79
  38  Knife           -2.635         0.846          3.331          0              90             0              70
  39  Mug             -2.711         1.602          2.389          0              90             0              79
  40  Bowl            -2.542         1.847          2.008          0              180            0              72
  41  Drawer          0.729          0.703          2.199          0              0              0
  42  Cabinet         -1.962         1.926          3.733          0              0              0
  43  Cabinet         -2.377         2.014          1.058          0              0              0
  44  Drawer          0.729          0.703          2.532          0              0              0
  45  Cabinet         -2.622         1.925          3.733          0              0              0
  46  StoveBurner     0.913          0.843          1.375          0              0              0
  47  CounterTop      0.864          0.858          0.984          0              0              0
  48  Cabinet         -1.976         1.779          3.734          0              0              0
  49  Cabinet         0.580          0.385          0.819          0              0              0
  50  Cabinet         -2.379         1.408          1.677          0              0              0
  51  Cabinet         -0.419         1.703          3.736          0              0              0
  52  CounterTop      0.864          0.858          2.371          0              0              0
  53  Sink            -1.702         0.726          3.828          0              180            0
  54  Cabinet         0.580          0.385          2.694          0              0              0
  55  Cabinet         -2.379         0.637          1.677          0              0              0
  56  Cabinet         -0.419         0.674          3.736          0              0              0
  57  Cabinet         -2.377         2.014          2.558          0              0              0
  58  Drawer          0.729          0.703          0.980          0              0              0
  59  Drawer          -2.114         0.706          3.657          0              0              0
  60  Cabinet         -2.377         1.691          2.572          0              0              0
  61  Cabinet         -2.951         1.925          3.733          0              0              0
  62  Cabinet         0.580          0.385          2.360          0              0              0
  63  Cabinet         -2.426         0.435          3.421          0              0              0
  64  StoveBurner     0.642          0.843          1.375          0              0              0
  65  Cabinet         -2.377         1.927          1.686          0              0              0
  66  Cabinet         -2.377         2.013          3.177          0              0              0
  67  Cabinet         -1.136         0.385          3.516          0              0              0
  68  StoveBurner     0.913          0.843          1.768          0              0              0
  69  Cabinet         -1.974         0.385          3.516          0              0              0
  70  CounterTop      -2.081         0.858          3.799          0              0              0
  71  Cabinet         -2.426         0.435          3.174          0              0              0
  72  Cabinet         -2.377         2.014          1.693          0              0              0
  73  Cabinet         -1.986         0.385          3.511          0              0              0
  74  StoveBurner     0.642          0.843          1.768          0              0              0
  75  Cabinet         -1.098         1.926          3.729          0              0              0
  76  Microwave       -1.529         1.250          3.881          1.622          180            0
  77  CoffeeMachine   1.000          0.812          2.492          0              270            0
  78  LightSwitch     0.825          1.396          4.082          0              180            0
  79  Fridge          -2.642         0.0            2.134          0              180            0
  80  Window          -1.131         1.673          0.808          90             0              0
  81  GarbageCan      0.931          -0.000         2.918          0              0              0
  82  SinkBasin       -1.601         0.686          3.774          0              0              0
  83  StoveKnob       1.104          1.002          1.886          0              0              70.346
  84  StoveKnob       1.104          1.002          1.733          0              0              70.346
  85  StoveKnob       1.104          1.002          1.321          0              0              70.346
  86  StoveKnob       1.104          1.002          1.481          0              0              70.346
  87  Toaster         -2.247         0.812          3.862          0              180            0
  88  DiningTable     -0.917         -0.000         1.203          0              0              0
  89  Stool           -0.932         0.000          1.404          1.196          21.715         0
  90  Faucet          -1.842         0.809          3.984          0              180            0
  91  Faucet          -1.371         0.809          3.985          0              180            0
  92  NorthWall
  93  EastWall
  94  SouthWall
  95  WestWall

Plan:
STEP 1: Turn around, go to the counter | STEP 2: Pick up the knife on the counter | STEP 3: Turn around, go forward, turn left, go forward, turn left at the table | STEP 4: Slice the lettuce on the table | STEP 5: Turn left, go to the fridge | STEP 6: Put the knife in the fridge | STEP 7: Turn left, go to the table | STEP 8: Pick up a lettuce slice from the table  | STEP 9: Turn left, go to the fridge | STEP 10: Put the lettuce slice in the fridge, wait, pick up the lettuce slice from the fridge | STEP 11: Turn around, go forward, turn right at the table | STEP 12: Put the lettuce slice on the table | END