Task: slice a lettuce put inside a refrigerator and into the sink

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          2.25           0              270            0
   1  DishSponge      -0.601         0.910          0.870          0              0              0              48
   2  ButterKnife     -0.601         0.910          1.540          0              0              0              48
   3  ButterKnife     -0.081         0.910          1.317          0              0              0              48
   4  Fork            1.418          0.919          -1.034         0              45             0              62
   5  Fork            -2.289         0.911          1.830          0              0              0              76
   6  Egg             1.213          0.949          -1.099         0              225            0              62
   7  Egg             1.512          0.941          0.465          0              0              0              57
   8  Cup             0.863          0.908          -1.483         0              45             0              58
   9  Cup             -2.420         0.592          -0.872         0              90             0              80
  10  Plate           -2.538         0.913          0.931          0              0              0              76
  11  Plate           -0.471         0.913          1.764          0              0              0              48
  12  Knife           -2.257         0.799          0.391          0              90             0              65
  13  Tomato          -2.455         0.953          1.230          0              0              0              76
  14  Bowl            -2.605         1.534          -0.092         0              0              0              71
  15  Bowl            -2.642         1.935          -0.465         0              0              0              70
  16  PepperShaker    -2.455         0.905          0.631          0              0              0              76
  17  Lettuce         0.048          0.994          1.540          0              0              0              48
  18  Lettuce         -0.211         0.994          0.423          0              0              0              48
  19  Lettuce         -2.289         0.994          1.230          0              0              0              76
  20  Bread           0.048          0.996          1.764          0              0              0              48
  21  Bread           -0.211         0.996          1.540          0              0              0              48
  22  Mug             0.464          0.955          -1.593         0              0              0              58
  23  Mug             -0.730         0.905          1.540          0              0              0              48
  24  Apple           -2.513         0.656          -1.051         0              90             0              80
  25  Pan             1.412          0.929          -0.335         0              0              0              49
  26  Knife           -2.379         0.798          0.486          0              270            0              65
  27  Apple           1.646          0.246          0.651          0              0              0              87
  28  Bowl            -2.564         1.534          1.192          0              0              0              61
  29  Fork            -2.379         0.773          -0.025         0              90             0              66
  30  Bread           -2.289         0.996          0.631          0              0              0              76
  31  Plate           -2.485         1.302          -0.979         0              90             0              80
  32  Egg             -2.570         1.046          2.278          0              90             0              88
  33  Kettle          0.854          0.900          -1.790         0              0              0              58
  34  Potato          1.810          0.947          -0.963         0              0              0              58
  35  SaltShaker      -2.685         1.928          -1.092         0              0              0              69
  36  Lettuce         -0.341         0.994          0.870          0              0              0              48
  37  Cup             1.426          0.918          -1.096         0              225            0              62
  38  SoapBottle      1.283          0.920          -1.169         0              225            0              62
  39  Spatula         -2.227         0.788          1.465          0              270            0              79
  40  PaperTowelRoll  1.342          1.015          -0.810         0              0              0              62
  41  ButterKnife     -0.471         0.910          0.647          0              0              0              48
  42  PepperShaker    -2.638         1.533          2.057          0              0              0              60
  43  DishSponge      -2.318         0.772          1.370          0              0              0              79
  44  Pot             1.691          0.929          0.064          0              0              0              59
  45  Spoon           0.048          0.912          0.870          0              0              0              48
  46  Tomato          -2.704         0.953          1.230          0              0              0              76
  47  Mug             -0.341         0.905          1.317          0              0              0              48
  48  CounterTop      -0.360         0.946          1.093          0              0              0
  49  StoveBurner     1.412          0.923          -0.335         0              0              0
  50  StoveKnob       1.878          1.093          0.018          287.989        90             0
  51  StoveKnob       1.878          1.093          -0.306         287.989        90             0
  52  Cabinet         -2.446         1.948          2.924          0              0              0
  53  Drawer          -2.276         0.792          0.902          0              0              0
  54  Cabinet         -2.145         0.402          1.578          0              0              0
  55  Cabinet         0.149          2.008          -1.603         0              90             0
  56  StoveBurner     1.691          0.923          -0.335         0              0              0
  57  CounterTop      1.585          0.946          0.405          0              0              0
  58  CounterTop      0.474          0.946          -1.625         0              0              0
  59  StoveBurner     1.691          0.923          0.064          0              0              0
  60  Cabinet         -2.446         1.948          1.687          0              0              0
  61  Cabinet         -2.446         1.948          1.640          0              0              0
  62  Sink            1.381          0.810          -1.271         0              225            0
  63  StoveKnob       1.878          1.093          0.150          287.989        90             0
  64  Cabinet         -2.145         0.402          -0.236         0              0              0
  65  Drawer          -2.276         0.792          0.437          0              0              0
  66  Drawer          -2.276         0.792          -0.027         0              0              0
  67  Cabinet         1.572          2.008          0.474          0              0              0
  68  Cabinet         1.572          2.008          -0.775         0              0              0
  69  Cabinet         -2.445         2.148          -1.275         0              0              0
  70  Cabinet         -2.446         2.148          -0.284         0              0              0
  71  Cabinet         -2.446         1.948          0.355          0              0              0
  72  Cabinet         -2.446         1.948          0.405          0              0              0
  73  Cabinet         -2.145         0.402          0.644          0              0              0
  74  Cabinet         -2.145         0.402          0.695          0              0              0
  75  Cabinet         -2.285         1.968          -1.325         0              180            0
  76  CounterTop      -1.485         0.946          1.319          0              0              0
  77  StoveBurner     1.411          0.923          0.064          0              0              0
  78  StoveKnob       1.878          1.093          -0.441         287.989        90             0
  79  Drawer          -2.276         0.792          1.368          0              0              0
  80  Fridge          -2.475         0.0            -0.782         0              90             0
  81  LightSwitch     -0.929         1.350          -1.950         0              0              0
  82  Toaster         -2.564         0.900          1.876          0              90             0
  83  CoffeeMachine   0.464          0.900          -1.810         0              0              0
  84  Window          1.508          1.534          -1.496         90             135            0
  85  Window          1.973          1.521          1.121          90             90             0
  86  SinkBasin       1.149          0.753          -1.380         0              225            0
  87  GarbageCan      1.646          -0.000         0.679          0              0              0
  88  Microwave       -2.580         0.900          2.440          0              90             0
  89  Stool           0.439          0.010          0.747          0              0              0
  90  Stool           -2.303         0.010          1.839          0              0              0
  91  Faucet          1.235          1.138          -1.473         0              225            0
  92  NorthWall
  93  EastWall
  94  SouthWall
  95  WestWall

Plan:
STEP 1: turn to the left and across the room  | STEP 2: pick up the knife from the counter | STEP 3: turn to the left  | STEP 4: slice the lettuce that is on the counter | STEP 5: turn to the right and across the room | STEP 6: face the sink and put the knife inside the sink | STEP 7: turn to the right and across the room | STEP 8: pick a slice of lettuce from the counter | STEP 9: turn to the left and across the room | STEP 10: open the refrigerator door put the slice of lettuce inside  | STEP 11: get the slice of lettuce back out turn to the left and across the room | STEP 12: face the sink put the slice of lettuce inside the sink | END