Task: Slice a lettuce and 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           -0.5           0.900          2.5            0              270            0
   1  Potato          1.738          1.055          -0.888         0              270            0              64
   2  ButterKnife     0.220          0.910          0.827          0              180            0              40
   3  DishSponge      1.656          0.910          -1.802         0              90             0              44
   4  Fork            0.989          0.911          0.915          0              90             0              40
   5  Spoon           1.796          0.912          -1.717         0              270            0              44
   6  Spatula         0.220          0.925          0.827          0              90             0              40
   7  Egg             0.061          0.946          -1.263         0              90             0              44
   8  Egg             1.709          0.105          1.779          0              270            0              58
   9  Cup             1.769          1.652          -0.497         0              0              0              51
  10  Knife           1.656          0.943          -1.460         0              90             0              44
  11  SoapBottle      1.800          0.068          1.779          0              270            0              58
  12  Tomato          1.865          0.975          -1.802         0              90             0              44
  13  Bowl            0.476          0.909          1.180          0              90             0              40
  14  SaltShaker      1.097          0.906          -1.247         0              90             0              44
  15  PepperShaker    1.769          2.132          0.805          0              0              0              48
  16  Bread           1.726          0.988          -1.631         0              90             0              44
  17  Apple           -0.838         1.740          -1.559         0              0              0              67
  18  Plate           1.805          1.634          -0.828         0              0              0              52
  19  SoapBottle      0.732          0.908          1.269          0              90             0              40
  20  Cup             1.842          1.653          -0.050         0              0              0              50
  21  Egg             -0.838         1.424          -1.594         0              0              0              67
  22  Fork            0.455          0.911          -1.352         0              90             0              44
  23  Ladle           1.201          0.926          0.743          3.366          0              346.985        40
  24  Apple           1.757          0.967          0.915          0              90             0              40
  25  SaltShaker      1.451          0.905          0.570          0              90             0              40
  26  Pan             1.807          0.909          0.075          0              180            0              41
  27  Tomato          -0.838         0.524          -1.541         0              0              0              67
  28  Spatula         0.476          0.925          0.827          0              180            0              40
  29  Potato          -0.790         1.131          -1.629         0              0              0              67
  30  Knife           1.139          0.760          -1.584         271.476        81.690         278.491        59
  31  ButterKnife     1.451          0.910          0.415          0              90             0              40
  32  Bread           1.501          0.987          1.092          0              90             0              40
  33  Lettuce         0.856          0.989          1.120          0              270            1.892          40
  34  PepperShaker    1.796          0.906          -1.374         0              90             0              44
  35  Pot             1.807          0.909          -0.320         0              180            0              42
  36  DishSponge      1.842          2.136          0.918          0              0              0              48
  37  Spoon           1.165          0.750          -1.494         0              342.866        0              59
  38  Bowl            1.839          0.909          0.467          0              90             0              40
  39  Mug             0.502          0.940          -1.460         0              0              0              66
  40  CounterTop      0.989          0.946          1.016          0              90             0
  41  StoveBurner     1.807          0.907          0.075          0              180            0
  42  StoveBurner     1.807          0.907          -0.320         0              180            0
  43  StoveBurner     1.543          0.907          -0.320         0              90             0
  44  CounterTop      0.989          0.946          -1.516         0              90             0
  45  Sink            1.100          0.906          -1.599         0              0              0
  46  StoveBurner     1.548          0.907          0.075          0              180            0
  47  Cabinet         1.658          2.299          1.313          0              0              0
  48  Cabinet         1.658          2.299          0.686          0              0              0
  49  Cabinet         1.658          2.049          0.673          0              0              0
  50  Cabinet         1.658          2.059          0.193          0              0              0
  51  Cabinet         1.658          2.059          -0.593         0              0              0
  52  Cabinet         1.658          2.049          -0.606         0              0              0
  53  Cabinet         1.658          2.049          -1.206         0              0              0
  54  Cabinet         1.658          2.049          -1.893         0              0              0
  55  Toaster         0.131          0.900          -1.589         0              0              0
  56  Window          -0.372         1.588          3.349          90             0              0
  57  Window          0.782          1.741          -1.893         90             0              0
  58  GarbageCan      1.770          -0.029         1.685          0              270            0
  59  SinkBasin       1.091          0.740          -1.599         0              0              0
  60  StoveKnob       1.364          0.821          0.086          48.421         270            0
  61  StoveKnob       1.364          0.821          -0.180         48.421         270            0
  62  StoveKnob       1.364          0.821          -0.317         48.421         270            0
  63  StoveKnob       1.364          0.821          -0.054         48.421         270            0
  64  Microwave       1.752          0.900          -0.843         0              270            0
  65  LightSwitch     2.0            1.261          3.094          0              270            0
  66  CoffeeMachine   0.501          0.900          -1.600         0              0              0
  67  Fridge          -0.533         0.0            -1.554         0              0              0
  68  Chair           1.068          0.000          1.752          0              191.622        0
  69  Faucet          1.110          1.138          -1.764         0              270            0
  70  Chair           0.357          0.000          1.710          0              178.899        0
  71  NorthWall
  72  EastWall
  73  SouthWall
  74  WestWall

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