Task: pick up knife, cut lettuce, place into fridge, remove from fridge, place on counter

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            0.908          1.5            0              180            0
   1  Potato          -1.290         0.793          2.459          0              0              0              53
   2  Potato          -1.194         0.386          0.673          0              90             0              92
   3  Glassbottle     0.103          0.759          -0.573         0              0              0              99
   4  WineBottle      1.444          0.912          -0.428         0              0              0              72
   5  Kettle          1.207          0.912          0.422          0              0              0              72
   6  Spoon           0.238          0.913          -0.359         0              0              0              78
   7  Spoon           -0.968         0.913          -0.589         0              0              0              78
   8  Pot             0.502          0.939          -0.469         0              0              0              85
   9  Egg             1.357          0.120          1.472          0              0              0              93
  10  Cup             -1.361         1.014          0.046          0              90             0              98
  11  Cup             1.444          0.910          0.422          0              0              0              72
  12  Plate           0.127          0.117          -0.577         0              0              0              67
  13  Knife           -0.813         0.934          -0.669         0              180            0              78
  14  Knife           -0.130         0.934          -0.365         0              0              0              78
  15  Tomato          -1.123         0.961          -0.907         0              0              0              78
  16  SoapBottle      -1.290         0.750          2.830          0              0              0              53
  17  SoapBottle      1.245          0.087          1.472          0              0              0              93
  18  Bowl            -1.012         0.747          1.902          0              0              0              53
  19  Bowl            1.131          0.115          -0.011         0              0              0              66
  20  Bread           1.207          0.974          -0.144         0              0              0              72
  21  Lettuce         -1.197         0.819          2.644          0              0              0              53
  22  Lettuce         -0.082         0.829          -0.612         0              0              0              99
  23  Lettuce         1.207          0.982          0.139          0              0              0              72
  24  SaltShaker      1.356          2.153          0.555          0              0              0              63
  25  PepperShaker    0.951          0.882          2.369          0              0              0              104
  26  Mug             1.215          0.943          -0.633         0              320.314        0              91
  27  Bread           -1.263         1.484          0.778          0              90             0              92
  28  Glassbottle     -0.919         0.750          2.459          0              0              0              53
  29  Fork            1.523          0.912          0.422          0              90             0              72
  30  Kettle          -1.357         0.739          3.024          0              240.000        0              53
  31  Tomato          -1.105         0.798          2.273          0              0              0              53
  32  Plate           1.444          0.912          0.706          0              0              0              72
  33  CellPhone       -1.286         0.909          -0.902         0              0              0              78
  34  Lettuce         1.284          0.957          2.261          0              0              0              104
  35  Pot             0.802          0.939          -0.740         0              90             0              81
  36  SoapBottle      -0.293         0.117          -0.446         0              0              0              67
  37  WineBottle      1.444          0.912          -0.144         0              0              0              72
  38  Spatula         1.450          0.901          2.153          0              0              0              104
  39  Bowl            1.207          0.909          0.706          0              0              0              72
  40  Apple           -1.092         0.811          1.302          0              90             0              92
  41  Cup             1.286          0.910          -0.428         0              0              0              72
  42  Knife           1.365          0.933          0.139          0              0              0              72
  43  Egg             -0.919         0.783          2.087          0              0              0              53
  44  SaltShaker      -1.475         0.745          2.644          0              0              0              53
  45  PepperShaker    1.267          1.656          0.312          0              0              0              54
  46  Potato          -1.197         0.793          1.902          0              0              0              53
  47  ButterKnife     1.117          0.886          2.477          0              0              0              104
  48  DishSponge      1.284          0.885          2.800          0              0              0              104
  49  Pan             -1.332         0.9            -0.699         0              345.0          0              78
  50  Spoon           -0.968         0.913          -0.828         0              0              0              78
  51  SprayBottle     1.324          2.153          1.087          0              0              0              62
  52  Mug             -1.325         1.650          -0.166         0              0              0              60
  53  DiningTable     -1.182         0.006          2.414          0              90             0
  54  Cabinet         1.184          2.059          0.375          0              0              0
  55  Cabinet         1.184          2.059          -0.635         0              0              0
  56  Cabinet         0.591          2.309          -0.645         0              0              0
  57  Cabinet         -0.574         2.059          -0.644         0              0              0
  58  Cabinet         -1.103         2.059          -0.644         0              0              0
  59  Cabinet         -1.185         2.059          -0.331         0              0              0
  60  Cabinet         -1.185         2.059          -0.281         0              0              0
  61  Cabinet         -1.185         2.059          0.375          0              0              0
  62  Cabinet         1.184          2.309          1.174          0              0              0
  63  Cabinet         1.184          2.309          0.424          0              0              0
  64  Cabinet         0.988          0.402          0.581          0              0              0
  65  Cabinet         0.988          0.402          0.531          0              0              0
  66  Cabinet         0.988          0.402          -0.178         0              0              0
  67  Cabinet         0.335          0.402          -0.348         0              0              0
  68  Cabinet         -0.374         0.402          -0.348         0              0              0
  69  Cabinet         0.988          0.402          1.231          0              0              0
  70  Cabinet         -1.185         2.309          1.374          0              0              0
  71  Cabinet         -1.185         2.309          0.424          0              0              0
  72  CounterTop      1.274          0.947          0.064          0              0              0
  73  Drawer          1.116          0.792          -0.015         0              0              0
  74  Drawer          -1.116         0.792          0.210          0              180            0
  75  Cabinet         -0.990         0.402          0.374          0              180            0
  76  Drawer          -1.116         0.792          -0.170         0              180            0
  77  Cabinet         -0.990         0.402          -0.335         0              180            0
  78  CounterTop      -1.001         0.947          -0.669         0              0              0
  79  StoveBurner     0.502          0.932          -0.740         0              90             0
  80  StoveBurner     0.801          0.932          -0.473         0              0              0
  81  StoveBurner     0.801          0.932          -0.740         0              90             0
  82  Drawer          1.116          0.792          1.081          0              0              0
  83  Sink            -0.013         0.912          -0.615         0              0              0
  84  Drawer          1.116          0.792          0.732          0              0              0
  85  StoveBurner     0.502          0.932          -0.469         0              0              0
  86  Drawer          1.116          0.792          0.367          0              0              0
  87  StoveKnob       0.550          1.085          -0.912         287.970        180            0
  88  StoveKnob       0.884          1.085          -0.912         287.970        180            0
  89  StoveKnob       0.432          1.085          -0.912         287.970        180            0
  90  StoveKnob       0.777          1.085          -0.912         287.970        180            0
  91  CoffeeMachine   1.304          0.900          -0.741         0              320.314        0
  92  Fridge          -1.300         0.008          0.987          0              90             0
  93  GarbageCan      1.296          -0.024         1.465          0              0              0
  94  Window          -0.012         1.641          -0.972         90             0              0
  95  Window          1.598          1.646          2.489          90             270            0
  96  Toaster         1.356          0.900          1.044          0              270            0
  97  LightSwitch     0.118          1.353          3.799          0              180            0
  98  Microwave       -1.343         0.900          0.053          0              90             0
  99  SinkBasin       -0.029         0.748          -0.612         0              0              0
 100  Faucet          -0.026         0.927          -0.808         0              0              0
 101  Shelf           -1.182         0.127          2.414          0              90             0
 102  Stool           1.140          0.007          3.262          1.206          20.753         0
 103  Shelf           -1.182         0.435          2.414          0              90             0
 104  DiningTable     1.169          0.014          2.569          0              0              1.896
 105  NorthWall
 106  EastWall
 107  SouthWall
 108  WestWall

Plan:
STEP 1: turn around, turn right to the table  | STEP 2: pick up knife from the table  | STEP 3: turn around, walk to the counter | STEP 4: cut the lettuce with the knife | STEP 5: turn around, turn right, turn around to the counter | STEP 6: place knife on the counter | STEP 7: turn around, turn right, turn left to the counter | STEP 8: pick up slice of lettuce from the counter | STEP 9: turn left, turn right to the fridge | STEP 10: open door, place lettuce on shelf, close door, open door, take lettuce from shelf, close door | STEP 11: turn to the right, turn right, turn around to the counter | STEP 12: place lettuce on the counter | END