Task: drop a cold lettuce slice on a plate on 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           1.5            0.900          -0.25          0              0              0
   1  Pan             1.761          1.027          -1.599         0              0              0              103
   2  Potato          2.599          0.806          4.32           0              0              0              61
   3  Ladle           -0.590         0.841          0.615          0              0              0              62
   4  Ladle           2.650          0.074          0.217          0              270            0              87
   5  ButterKnife     2.685          0.764          3.994          0              225            0              61
   6  ButterKnife     -0.544         1.027          2.311          0              0              0              63
   7  WineBottle      2.975          0.765          4.118          0              270            0              61
   8  Glassbottle     -1.102         1.028          1.243          0              0              0              63
   9  Pot             -0.627         0.049          1.954          0              0              0              89
  10  Spatula         2.538          0.816          0.072          0              90             0              71
  11  Spoon           2.439          1.028          1.056          0              136.999        0              60
  12  Fork            2.100          0.765          3.969          0              270            0              61
  13  Cup             2.138          0.763          4.213          0              329.999        0              61
  14  Plate           1.350          1.027          -1.560         0              90             0              60
  15  Plate           2.621          1.027          -0.846         0              0              0              60
  16  Knife           2.706          1.052          0.068          0              0              0              60
  17  Knife           2.601          0.826          0.855          0              227.0          0              72
  18  Tomato          -0.877         1.495          -0.516         0              90             0              104
  19  Tomato          -0.947         0.839          -0.627         0              90             0              104
  20  SoapBottle      2.754          1.025          1.350          0              136.999        0              60
  21  SoapBottle      -1.022         1.780          1.537          0              0              0              94
  22  Bowl            -0.922         1.440          -0.184         0              90             0              104
  23  Bowl            2.451          0.762          3.445          0              0              0              61
  24  SaltShaker      -0.803         0.044          2.569          0              0              0              66
  25  PepperShaker    2.537          1.023          -1.762         0              0              0              60
  26  PepperShaker    2.537          0.796          -0.653         0              0              0              69
  27  Bread           2.580          0.832          4.099          0              225            0              61
  28  Lettuce         2.321          0.822          3.840          0              225            0              61
  29  Mug             -0.803         1.070          0.646          0              90             0              113
  30  Mug             -0.544         1.022          0.877          0              0              0              63
  31  Apple           1.529          1.077          -1.987         0              90             0              60
  32  Pan             2.042          1.017          1.779          0              0              0              60
  33  Glassbottle     -0.968         1.442          -0.738         0              90             0              104
  34  Knife           2.542          0.789          3.810          0              329.999        0              61
  35  SoapBottle      2.724          0.031          -0.740         0              0              0              101
  36  Egg             2.376          0.808          3.62           0              0              0              61
  37  Fork            2.761          0.800          -0.699         0              0              0              69
  38  Potato          -0.851         0.858          1.337          0              90             0              117
  39  Ladle           2.160          1.066          1.354          0              136.999        0              60
  40  Tomato          2.537          1.080          -1.151         0              0              0              60
  41  Pot             2.116          1.027          -1.84          0              270            0              64
  42  WineBottle      2.265          1.027          1.452          0              136.999        0              60
  43  Plate           2.726          0.764          3.492          0              329.999        0              61
  44  Spatula         2.208          0.816          0.889          0              47.0           0              73
  45  PaperTowelRoll  1.170          1.131          -1.454         0              90             0              60
  46  Lettuce         -0.577         0.874          1.337          0              90             0              117
  47  Apple           1.925          0.814          3.969          0              270            0              61
  48  SaltShaker      -0.660         0.796          1.953          0              0              0              65
  49  PepperShaker    2.626          0.760          3.747          0              270            0              61
  50  ButterKnife     -0.669         1.027          0.323          0              0              0              63
  51  Bread           2.976          0.832          3.895          0              270            0              61
  52  Cup             -0.645         0.815          1.492          0              90             0              117
  53  DishSponge      1.925          0.764          4.118          0              270            0              61
  54  Bowl            -0.945         1.780          1.363          0              0              0              94
  55  Spoon           2.893          0.765          4.307          0              225            0              61
  56  Mug             2.275          2.274          -1.832         0              0              0              88
  57  Sink            -0.716         1.023          1.333          0              0              0
  58  StoveBurner     1.835          1.018          -1.840         0              90             0
  59  StoveBurner     2.177          1.018          -1.599         0              0              0
  60  CounterTop      2.812          0.992          0.675          0              0              0
  61  DiningTable     2.419          0.003          3.930          0              0              0
  62  Drawer          -0.643         0.828          0.616          0              0              0
  63  CounterTop      -0.813         1.062          2.188          0              0              0
  64  StoveBurner     2.115          1.018          -1.840         0              270            0
  65  Drawer          -0.643         0.831          1.953          0              0              0
  66  Drawer          -0.643         0.833          2.418          0              0              0
  67  Drawer          1.347          0.836          -1.539         0              0              0
  68  Drawer          2.693          0.833          -1.131         0              0              0
  69  Drawer          2.693          0.833          -0.699         0              0              0
  70  Drawer          2.693          0.833          -0.267         0              0              0
  71  Drawer          2.693          0.833          0.163          0              0              0
  72  Drawer          2.524          0.833          0.720          0              2.000          0
  73  Drawer          2.232          0.833          1.036          0              2.000          0
  74  Drawer          1.936          0.833          1.354          0              2.000          0
  75  Drawer          1.646          0.833          1.670          0              2.000          0
  76  Cabinet         1.504          2.475          -1.710         0              0              0
  77  Cabinet         -0.823         2.220          1.621          0              0              0
  78  Cabinet         -0.823         2.220          0.615          0              0              0
  79  Cabinet         1.136          0.388          -1.355         0              0              0
  80  Cabinet         -0.356         0.383          2.626          0              0              0
  81  Cabinet         2.745          2.220          -1.690         0              0              0
  82  Cabinet         1.882          0.383          1.017          0              0              0
  83  Cabinet         1.307          0.473          1.640          0              0              0
  84  Cabinet         1.892          0.383          1.006          0              0              0
  85  Cabinet         2.467          0.383          0.383          0              0              0
  86  Cabinet         2.466          0.383          -0.475         0              0              0
  87  Cabinet         2.466          0.473          0.371          0              0              0
  88  Cabinet         2.386          2.475          -1.710         0              0              0
  89  Cabinet         -0.356         0.383          1.712          0              0              0
  90  Cabinet         2.745          2.220          0.019          0              0              0
  91  Cabinet         -0.663         2.496          0.157          0              0              0
  92  Cabinet         -0.663         2.496          -0.868         0              0              0
  93  Cabinet         -0.356         0.383          0.269          0              0              0
  94  Cabinet         -0.823         2.220          1.603          0              0              0
  95  Cabinet         -0.662         2.234          0.586          0              0              0
  96  Cabinet         2.745          2.220          -0.843         0              0              0
  97  Cabinet         2.745          2.220          -0.827         0              0              0
  98  Cabinet         -0.823         2.220          2.608          0              0              0
  99  Cabinet         2.732          2.226          -1.709         0              0              0
 100  Cabinet         1.137          2.226          -1.709         0              0              0
 101  Cabinet         2.466          0.383          -0.491         0              0              0
 102  Cabinet         2.466          0.383          -1.339         0              0              0
 103  StoveBurner     1.761          1.018          -1.599         0              0              0
 104  Fridge          -0.908         0.0            -0.405         0              0              0
 105  HousePlant      2.517          1.016          1.822          0              0              0
 106  Microwave       1.939          1.745          -1.826         0              0              0
 107  StoveKnob       2.017          1.041          -1.514         0              180            180
 108  StoveKnob       1.934          1.041          -1.514         0              180            180
 109  StoveKnob       2.017          1.041          -1.589         0              180            180
 110  StoveKnob       1.934          1.041          -1.589         0              180            180
 111  Window          1.756          1.608          4.762          90             0              0
 112  HousePlant      2.171          1.004          2.091          0              0              0
 113  CoffeeMachine   -0.942         1.018          0.645          0              90             0
 114  LightSwitch     -0.099         1.410          -2.066         0              0              0
 115  GarbageCan      -0.951         -0.029         2.826          0              0              0
 116  Toaster         -1.007         1.018          2.238          0              90             0
 117  SinkBasin       -0.714         0.805          1.348          0              90             0
 118  Chair           1.615          0.004          4.310          0              107.976        0
 119  Faucet          -1.120         1.013          1.334          0              90             0
 120  Chair           2.759          0.004          3.086          0              358.967        0
 121
 122  NorthWall
 123  EastWall
 124  SouthWall
 125  WestWall

Plan:
STEP 1: move forward towards the table | STEP 2: pick up  the lettuce | STEP 3: move right a bit on the table | STEP 4: drop the lettuce on the table | STEP 5: pick up a knife from the table | STEP 6: slice the lettuce with the knife | STEP 7: drop the knife on the table | STEP 8: pick up a  slice of the lettuce | STEP 9: turn around and move towards the fridge | STEP 10: drop the lettuce to cool and take it out | STEP 11: turn right and move towards the table  | STEP 12: drop the  slice on a plate on the table | END