Task: Slice a head of lettuce into sections, chill one slice, return it to the table

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.75          0.900          5.5            0              90             0
   1  Pan             1.559          0.988          4.294          0              0              0              45
   2  Potato          1.497          0.925          2.085          0              90             0              70
   3  ButterKnife     0.192          0.771          0.507          0              0              0              44
   4  Spoon           -0.138         0.761          6.282          0              225            0              83
   5  Spoon           -0.481         0.773          0.507          0              0              0              43
   6  Egg             1.276          0.940          2.137          0              90             0              70
   7  Egg             1.442          0.941          2.474          0              90             0              70
   8  Knife           0.847          1.022          0.303          0              180            0              47
   9  Tomato          1.966          1.565          6.001          0              270            0              69
  10  Lettuce         -0.422         0.848          6.653          0              135            0              83
  11  Apple           2.009          1.590          5.876          0              270            0              69
  12  Bowl            0.305          0.759          6.479          0              270            0              83
  13  Bread           -0.159         0.829          6.787          0              0              0              83
  14  Egg             1.276          0.941          2.474          0              90             0              70
  15  Knife           0.328          0.801          0.451          0              90             0              44
  16  Fork            0.150          0.760          6.479          0              270            0              83
  17  Apple           0.273          1.171          0.213          0              0              0              63
  18  Kettle          1.317          0.988          4.294          0              0              0              42
  19  Plate           0.847          0.993          0.578          0              0              0              47
  20  SaltShaker      0.028          0.755          6.787          0              0              0              83
  21  Lettuce         0.104          0.848          6.653          0              225            0              83
  22  SoapBottle      1.135          0.992          4.670          0              0              0              48
  23  Spatula         -0.356         0.775          6.458          0              315            0              83
  24  PaperTowelRoll  -0.384         1.096          0.486          0              0              0              47
  25  Pot             1.562          0.988          3.848          0              0              0              41
  26  Potato          -0.621         0.794          6.666          0              270            0              83
  27  ButterKnife     0.803          0.772          0.563          0              0              0              39
  28  PepperShaker    1.314          0.136          4.763          0              0              0              49
  29  Pan             1.079          1.577          0.295          0              90             0              54
  30  Tomato          1.907          0.130          6.439          0              0              0              71
  31  DishSponge      1.238          0.770          4.644          0              0              0              37
  32  Cup             2.051          1.511          5.751          0              270            0              69
  33  Spoon           1.403          0.993          3.324          0              0              0              47
  34  Mug             1.384          1.043          0.847          0              270            0              47
  35  Cabinet         1.307          2.455          4.360          0              0              0
  36  Cabinet         1.054          0.422          1.710          0              0              0
  37  Drawer          1.280          0.808          4.718          0              0              0
  38  Cabinet         1.307          2.455          3.607          0              0              0
  39  Drawer          0.736          0.802          0.521          0              0              0
  40  Drawer          1.276          0.802          3.291          0              0              0
  41  StoveBurner     1.562          0.982          3.848          0              0              0
  42  StoveBurner     1.317          0.982          4.294          0              0              0
  43  Drawer          -0.482         0.802          0.521          0              0              0
  44  Drawer          0.124          0.802          0.521          0              0              0
  45  StoveBurner     1.559          0.982          4.294          0              0              0
  46  StoveBurner     1.320          0.982          3.848          0              0              0
  47  CounterTop      1.391          1.028          0.897          0              0              0
  48  CounterTop      1.391          1.028          4.716          0              0              0
  49  Cabinet         1.054          0.422          4.548          0              0              0
  50  Cabinet         1.317          2.134          0.517          0              0              0
  51  Cabinet         1.317          2.134          4.889          0              0              0
  52  Cabinet         1.317          2.134          3.095          0              0              0
  53  Cabinet         0.443          0.422          0.743          0              0              0
  54  Cabinet         1.270          2.134          0.434          0              0              0
  55  Cabinet         -0.775         0.422          0.743          0              0              0
  56  Cabinet         -0.168         0.422          0.743          0              0              0
  57  Cabinet         1.317          2.134          1.534          0              0              0
  58  Cabinet         1.054          0.422          2.990          0              0              0
  59  Cabinet         1.054          0.422          2.944          0              0              0
  60  Cabinet         -0.263         2.134          0.434          0              0              0
  61  Cabinet         0.252          2.134          0.434          0              0              0
  62  Sink            1.391          1.006          2.326          0              0              0
  63  Microwave       0.108          0.981          0.262          0              0              0
  64  HousePlant      -0.165         0.826          6.444          0              0              0
  65  CoffeeMachine   1.551          0.982          0.953          0              270            0
  66  Toaster         1.473          0.981          4.715          0              270            0
  67  Window          -2.065         1.916          3.626          90             90             0
  68  Window          1.763          2.007          2.299          90             270            0
  69  Fridge          2.035          0.0            5.625          0              0              0
  70  SinkBasin       1.387          0.880          2.338          0              90             0
  71  GarbageCan      2.001          -0.044         6.503          0              0              0
  72  StoveKnob       1.140          0.934          3.987          45             270            0
  73  StoveKnob       1.140          0.934          4.309          45             270            0
  74  StoveKnob       1.140          0.934          4.140          45             270            0
  75  StoveKnob       1.140          0.934          3.824          45             270            0
  76  Vase            -0.226         0.834          6.993          0              0              0
  77  Vase            2.098          0.043          7.070          0              257.232        0
  78  Vase            -0.594         0.835          6.130          0              225            0
  79  LightSwitch     -2.0           1.549          6.045          0              90             0
  80  Safe            2.046          1.072          7.054          0              257.232        0
  81  Faucet          1.534          1.025          2.371          0              294.391        0
  82  Blinds          1.738          2.563          2.312          0              90             0
  83  DiningTable     -0.156         0.000          6.474          0              0              0
  84  Chair           0.291          0.002          6.142          0              310.162        0
  85  GarbageBag      -1.092         0.318          0.268          270            90             83.492
  86  NorthWall
  87  EastWall
  88  SouthWall
  89  WestWall

Plan:
STEP 1: Walk toward the refrigerator, hang a right at the counter, walk to the knife and plate to the left of the microwave oven. | STEP 2: Pick up the knife with the yellow handle. | STEP 3: Turn around and walk with the knife to the table at the other end of the room, stand to the right of the chair while facing the table. | STEP 4: Slice the the head of lettuce nearest the gray bowl on the table into sections. | STEP 5: Turn slightly to your left and stand in front of the gray bowl.  | STEP 6: Put the knife down to the right of the bowl. | STEP 7: Step back to the sliced head of lettuce. | STEP 8: Pick up the end slice of the lettuce closest to you. | STEP 9: Turn and walk to the refrigerator. | STEP 10: Open the refrigerator door and place the lettuce slice on the top shelf of the fridge. After cooling, open the refrigerator door and pick up the lettuce slice and close the fridge door. | STEP 11: Turn and walk back to the table and go to the sliced head of lettuce. | STEP 12: Place the chilled slice next to the head of lettuce. | END