Task: How to slice and cook a lettuce slice

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.25          0.908          3.0            0              270            0
   1  Potato          -0.919         0.793          2.644          0              0              0              48
   2  Potato          -1.149         1.681          0.781          0              90             0              87
   3  DishSponge      1.099          0.775          -0.049         0              0              0              68
   4  ButterKnife     1.207          0.911          0.706          0              0              0              67
   5  ButterKnife     -0.222         0.912          -0.354         0              0              0              73
   6  WineBottle      -1.225         0.342          0.988          0              90             0              87
   7  WineBottle      -1.162         0.342          1.092          0              90             0              87
   8  Spoon           -1.197         0.750          1.902          0              0              0              48
   9  Spatula         0.041          0.773          -0.612         0              0              0              94
  10  Pot             -1.206         1.421          1.092          0              90             0              87
  11  Egg             -1.012         0.783          2.830          0              0              0              48
  12  Egg             -1.427         1.049          -0.109         0              90             0              93
  13  Plate           1.131          0.116          0.732          0              0              0              64
  14  SoapBottle      1.450          0.887          2.477          0              0              0              99
  15  Bowl            -1.105         0.747          2.644          0              0              0              48
  16  Bowl            0.127          0.115          -0.490         0              0              0              62
  17  Lettuce         -1.206         1.707          0.984          0              90             0              87
  18  Lettuce         -1.290         0.820          2.459          0              0              0              48
  19  PepperShaker    -1.135         0.908          -0.732         0              0              0              73
  20  Mug             1.284          0.881          2.261          0              0              0              99
  21  Mug             1.128          0.906          0.139          0              0              0              67
  22  Bread           1.207          0.974          -0.144         0              0              0              67
  23  Glassbottle     1.365          0.912          -0.428         0              0              0              67
  24  Fork            -1.383         0.749          2.644          0              0              0              48
  25  Kettle          1.200          0.887          2.692          0              0              0              99
  26  Tomato          -1.378         1.338          0.987          0              90             0              87
  27  Plate           1.444          0.912          -0.144         0              0              0              67
  28  CellPhone       1.523          0.909          0.139          0              0              0              67
  29  Lettuce         1.365          0.982          0.139          0              0              0              67
  30  Pot             0.502          0.939          -0.740         0              90             0              74
  31  SoapBottle      1.327          1.661          0.253          0              0              0              49
  32  WineBottle      -1.012         0.749          1.902          0              0              0              48
  33  Spatula         1.523          0.926          0.706          0              0              0              67
  34  Bowl            -1.361         1.013          0.046          0              90             0              93
  35  Apple           1.367          0.946          2.692          0              0              0              99
  36  Cup             -1.475         0.748          1.902          0              0              0              48
  37  Knife           1.207          0.933          0.139          0              90             0              67
  38  Egg             -1.290         0.783          2.830          0              0              0              48
  39  SaltShaker      -1.105         0.745          2.459          0              0              0              48
  40  PepperShaker    -0.919         0.745          2.087          0              0              0              48
  41  Potato          -0.020         0.803          -0.533         0              0              0              94
  42  ButterKnife     -1.197         0.748          2.273          0              0              0              48
  43  DishSponge      1.450          0.885          2.800          0              0              0              99
  44  Pan             -1.263         1.287          1.197          0              0              0              87
  45  Spoon           1.207          0.912          -0.428         0              0              0              67
  46  SprayBottle     -1.437         0.911          -0.562         0              0              0              73
  47  Mug             -1.475         0.743          2.273          0              0              0              48
  48  DiningTable     -1.182         0.006          2.414          0              90             0
  49  Cabinet         1.184          2.059          0.375          0              0              0
  50  Cabinet         1.184          2.059          -0.635         0              0              0
  51  Cabinet         0.591          2.309          -0.645         0              0              0
  52  Cabinet         -0.574         2.059          -0.644         0              0              0
  53  Cabinet         -1.103         2.059          -0.644         0              0              0
  54  Cabinet         -1.185         2.059          -0.331         0              0              0
  55  Cabinet         -1.185         2.059          -0.281         0              0              0
  56  Cabinet         -1.185         2.059          0.375          0              0              0
  57  Cabinet         1.184          2.309          1.174          0              0              0
  58  Cabinet         1.184          2.309          0.424          0              0              0
  59  Cabinet         0.988          0.402          0.581          0              0              0
  60  Cabinet         0.988          0.402          0.531          0              0              0
  61  Cabinet         0.988          0.402          -0.178         0              0              0
  62  Cabinet         0.335          0.402          -0.348         0              0              0
  63  Cabinet         -0.374         0.402          -0.348         0              0              0
  64  Cabinet         0.988          0.402          1.231          0              0              0
  65  Cabinet         -1.185         2.309          1.374          0              0              0
  66  Cabinet         -1.185         2.309          0.424          0              0              0
  67  CounterTop      1.274          0.947          0.064          0              0              0
  68  Drawer          1.116          0.792          -0.015         0              0              0
  69  Drawer          -1.116         0.792          0.210          0              180            0
  70  Cabinet         -0.990         0.402          0.374          0              180            0
  71  Drawer          -1.116         0.792          -0.170         0              180            0
  72  Cabinet         -0.990         0.402          -0.335         0              180            0
  73  CounterTop      -1.001         0.947          -0.669         0              0              0
  74  StoveBurner     0.502          0.932          -0.740         0              90             0
  75  StoveBurner     0.801          0.932          -0.473         0              0              0
  76  StoveBurner     0.801          0.932          -0.740         0              90             0
  77  Drawer          1.116          0.792          1.081          0              0              0
  78  Sink            -0.013         0.912          -0.615         0              0              0
  79  Drawer          1.116          0.792          0.732          0              0              0
  80  StoveBurner     0.502          0.932          -0.469         0              0              0
  81  Drawer          1.116          0.792          0.367          0              0              0
  82  StoveKnob       0.550          1.085          -0.912         287.970        180            0
  83  StoveKnob       0.884          1.085          -0.912         287.970        180            0
  84  StoveKnob       0.432          1.085          -0.912         287.970        180            0
  85  StoveKnob       0.777          1.085          -0.912         287.970        180            0
  86  CoffeeMachine   1.304          0.900          -0.741         0              320.314        0
  87  Fridge          -1.300         0.008          0.987          0              90             0
  88  GarbageCan      1.296          -0.024         1.465          0              0              0
  89  Window          -0.012         1.641          -0.972         90             0              0
  90  Window          1.598          1.646          2.489          90             270            0
  91  Toaster         1.356          0.900          1.044          0              270            0
  92  LightSwitch     0.118          1.353          3.799          0              180            0
  93  Microwave       -1.343         0.900          0.053          0              90             0
  94  SinkBasin       -0.029         0.748          -0.612         0              0              0
  95  Faucet          -0.026         0.927          -0.808         0              0              0
  96  Shelf           -1.182         0.127          2.414          0              90             0
  97  Stool           1.140          0.007          3.262          1.206          20.753         0
  98  Shelf           -1.182         0.435          2.414          0              90             0
  99  DiningTable     1.169          0.014          2.569          0              0              1.896
 100  NorthWall
 101  EastWall
 102  SouthWall
 103  WestWall

Plan:
STEP 1: Turn left walk toward dishwasher, Turn left and walk toward counter next to oven | STEP 2: pick up lettuce and bring it to front of counter | STEP 3: take lettuce over the counter next to the toaster | STEP 4: put lettuce on counter | STEP 5: pick up knife on the left | STEP 6: cut lettuce into slices | STEP 7: set the knife down between slices on counter top | STEP 8: pick up a lettuce slice off of the counter | STEP 9: take lettuce slice over to stove | STEP 10: set lettuce into the pot | STEP 11: remove the pot from off the stove | STEP 12: walk over to the counter to the right of the sink | STEP 13: set the pot on the counter | END