Task: Slice lettuce to put in fridge.

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            0.930          -0.25          0              180            0
   1  Potato          0.773          0.924          -1.559         0              0              0              110
   2  DishSponge      -0.030         0.705          -1.352         0              45             0              74
   3  ButterKnife     -0.868         0.130          0.664          0              0              0              94
   4  ButterKnife     1.229          0.908          0.038          0              0              0              95
   5  Glassbottle     -0.131         0.901          -1.296         0              45             0              85
   6  Glassbottle     2.888          0.901          -0.499         0              0              0              63
   7  Kettle          -0.419         0.902          -1.269         0              315            0              66
   8  Pot             -0.935         0.900          0.846          0              0              0              64
   9  Spatula         3.152          0.762          0.032          0              0              0              109
  10  Spatula         -1.153         0.915          0.176          0              90             0              64
  11  Spoon           -0.702         0.901          -0.726         0              45             0              64
  12  Fork            -0.090         0.900          -1.440         0              45             0              85
  13  CellPhone       -0.682         0.897          -0.544         0              45             0              64
  14  Mug             0.929          1.242          -1.531         0              90             0              110
  15  Apple           1.242          0.959          -1.503         0              0              0              110
  16  Bread           0.798          0.989          0.627          0              0              0              95
  17  Bowl            3.140          0.174          0.559          0              0              0              73
  18  SoapBottle      1.098          0.920          0.322          0              0              0              95
  19  SoapBottle      -0.115         1.272          -1.519         0              45             0              81
  20  Tomato          0.101          0.937          -1.731         0              0              0              85
  21  Cup             0.356          0.908          0.326          0              0              0              95
  22  Cup             3.198          0.173          -0.501         0              0              0              75
  23  Plate           0.719          0.923          0.254          0              36.810         0              95
  24  Knife           3.200          0.926          -0.698         0              0              0              63
  25  Plate           3.102          1.477          -1.235         0              0              0              78
  26  Glassbottle     3.044          1.465          -1.550         0              0              0              62
  27  SoapBottle      -0.871         1.267          -0.858         0              45             0              83
  28  Potato          1.006          0.949          0.405          0              36.810         0              95
  29  Fork            -0.991         0.326          -0.098         0              90             0              69
  30  Ladle           2.988          0.749          -0.361         0              270            0              60
  31  Pot             1.098          0.908          0.605          0              270            0              95
  32  Kettle          -0.600         0.902          -1.090         0              135            0              53
  33  Spatula         -0.053         0.915          -1.682         0              135            0              85
  34  Knife           -0.789         0.925          0.399          0              90             0              64
  35  Lettuce         0.445          0.973          0.527          0              0              0              95
  36  Cup             -1.085         0.995          1.417          0              90             0              112
  37  SaltShaker      0.101          0.896          -1.373         0              0              0              85
  38  Egg             -0.048         0.952          -1.584         0              45             0              85
  39  PepperShaker    -0.909         0.127          0.401          0              0              0              65
  40  ButterKnife     -0.935         0.900          0.399          0              0              0              64
  41  Apple           1.086          0.959          -1.475         0              0              0              110
  42  Pan             0.341          0.873          -1.649         0              167.065        0              85
  43  Bread           -0.862         0.979          -0.047         0              0              0              64
  44  CellPhone       -0.717         0.897          -0.270         0              0              0              64
  45  DishSponge      3.208          0.100          1.519          0              225            0              105
  46  Tomato          1.008          0.750          -1.407         0              0              0              110
  47  Spoon           0.533          0.912          0.627          0              0              0              95
  48  Bowl            2.971          0.172          -0.453         0              0              0              75
  49  Mug             -1.052         0.992          1.311          0              270            0              112
  50  Drawer          0.376          0.572          -1.509         0              0              0
  51  Drawer          3.020          0.769          -0.783         0              180            0
  52  Drawer          -0.860         0.577          1.429          0              0              0
  53  StoveBurner     -0.600         0.897          -1.090         0              135            0
  54  Drawer          0.376          0.191          -1.509         0              0              0
  55  Cabinet         1.402          1.874          -1.259         0              0              0
  56  Cabinet         -0.202         1.963          -1.328         0              0              0
  57  Drawer          -0.860         0.765          1.429          0              0              0
  58  Drawer          -0.677         0.765          -0.700         0              0              0
  59  StoveBurner     -0.420         0.897          -0.920         0              135            0
  60  Drawer          3.020          0.769          -0.407         0              180            0
  61  Drawer          -0.860         0.577          0.663          0              0              0
  62  Cabinet         2.819          1.768          -1.850         0              0              0
  63  CounterTop      3.111          0.936          0.019          0              0              0
  64  CounterTop      -1.007         0.935          -0.039         0              0              0
  65  Drawer          -0.860         0.385          0.663          0              0              0
  66  StoveBurner     -0.419         0.897          -1.269         0              315            0
  67  Drawer          -0.047         0.573          -1.324         0              0              0
  68  Drawer          -0.860         0.765          0.663          0              0              0
  69  Drawer          -0.860         0.385          -0.100         0              0              0
  70  Drawer          0.376          0.380          -1.509         0              0              0
  71  Drawer          -0.860         0.765          -0.100         0              0              0
  72  Drawer          0.376          0.765          -1.509         0              0              0
  73  Cabinet         2.849          0.419          0.409          0              0              0
  74  Drawer          -0.047         0.765          -1.324         0              0              0
  75  Cabinet         2.849          0.419          -0.610         0              0              0
  76  Cabinet         2.849          0.419          -0.959         0              0              0
  77  Cabinet         3.069          1.666          -0.709         0              0              0
  78  Cabinet         2.819          1.768          -1.047         0              0              0
  79  Cabinet         0.620          1.874          -1.259         0              0              0
  80  Cabinet         0.140          1.666          -1.559         0              0              0
  81  Cabinet         -0.189         1.666          -1.340         0              0              0
  82  Cabinet         -0.709         1.963          -0.819         0              0              0
  83  Cabinet         -0.920         1.665          -0.620         0              0              0
  84  Drawer          -0.860         0.190          -0.100         0              0              0
  85  CounterTop      0.133          0.935          -1.457         0              0              0
  86  Drawer          3.020          0.769          0.695          0              180            0
  87  Drawer          -0.677         0.577          -0.700         0              0              0
  88  Drawer          -0.860         0.190          1.429          0              0              0
  89  Drawer          -0.047         0.192          -1.324         0              0              0
  90  Drawer          -0.677         0.193          -0.700         0              0              0
  91  Drawer          -0.860         0.577          -0.100         0              0              0
  92  Sink            3.078          0.887          0.086          0              0              0
  93  StoveBurner     -0.239         0.897          -1.089         0              315            0
  94  Drawer          -0.860         0.190          0.663          0              0              0
  95  CounterTop      1.210          0.937          0.463          0              0              0
  96  Drawer          -0.047         0.381          -1.324         0              0              0
  97  Drawer          -0.677         0.387          -0.700         0              0              0
  98  Mirror          -1.295         1.630          0.045          0              0              0
  99  Drawer          -0.860         0.385          1.429          0              0              0
 100  HousePlant      3.196          0.891          -0.368         0              0              0
 101  StoveKnob       -0.090         0.790          -1.009         270            45             0
 102  StoveKnob       -0.280         0.790          -0.819         270            45             0
 103  StoveKnob       -0.180         0.790          -0.920         270            45             0
 104  StoveKnob       -0.370         0.790          -0.720         270            45             0
 105  GarbageCan      3.137          0.025          1.545          0              225            0
 106  Window          3.703          1.675          0.046          90             90             0
 107  CoffeeMachine   3.214          0.890          0.697          0              270            0
 108  LightSwitch     2.592          1.309          -1.880         0              0              0
 109  SinkBasin       3.069          0.736          0.108          0              90             0
 110  Fridge          1.008          0.029          -1.467         0              0              0
 111  Toaster         -1.035         0.873          -0.396         0              90             0
 112  Microwave       -1.034         0.874          1.428          0              90             0
 113  Faucet          3.305          0.886          0.094          270            180            0
 114  NorthWall
 115  EastWall
 116  SouthWall
 117  WestWall

Plan:
STEP 1: Turn and go to the counter to the right of the sink. | STEP 2: Pick up the knife to the left of the plant. | STEP 3: With the knife in turn and go to the island counter on the side where the lettuce is. | STEP 4: Slice half the lettuce on the right side with the knife. | STEP 5: With the knife in hand turn and go to the fridge. | STEP 6: Open the fridge and place the knife on the third shelf in front of the tomato. Shut the fridge. | STEP 7: Turn and go to the island counter where the lettuce is on the counter. | STEP 8: Pick up a slice of lettuce from the middle. | STEP 9: With the slice of lettuce in hand turn and go to the fridge. | STEP 10: Open the fridge with lettuce in other hand.  Place lettuce to the left of the tomato behind the knife on the second shelf.  Close fridge. Open fridge and grab the lettuce that is on the second shelf | STEP 11: With the lettuce in your hand turn and go to the blue recycle bin that is to the left of the counter with the coffee pot on it. | STEP 12: Place the lettuce in to the blue recycle bin. | END