Task: Slice a lettuce, cool a 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              0              0
   1  Pan             -1.320         1.420          0.883          0              270            0              99
   2  SprayBottle     1.049          0.910          -0.712         0              180            0              79
   3  SprayBottle     0.209          0.116          -0.446         0              0              0              74
   4  Potato          -0.503         0.957          -0.669         0              0              0              85
   5  Potato          -1.149         1.333          0.988          0              90             0              99
   6  CellPhone       1.200          0.884          2.153          0              0              0              111
   7  DishSponge      1.088          0.115          1.157          0              0              0              100
   8  ButterKnife     1.207          0.911          0.139          0              0              0              79
   9  Glassbottle     -1.130         0.342          0.673          0              90             0              99
  10  Glassbottle     1.189          0.086          1.377          0              0              0              100
  11  WineBottle      1.444          0.912          -0.144         0              0              0              79
  12  Spoon           -0.020         0.763          -0.651         0              0              0              106
  13  Spoon           -1.184         0.777          0.174          0              90             0              81
  14  Fork            1.444          0.912          -0.428         0              90             0              79
  15  Fork            -0.144         0.759          -0.651         0              90             0              106
  16  Pot             0.502          0.939          -0.740         0              90             0              86
  17  Egg             -1.435         1.322          0.778          0              90             0              99
  18  Egg             1.286          0.945          0.139          0              0              0              79
  19  Plate           -1.162         0.342          1.197          0              90             0              99
  20  Plate           1.174          0.117          -0.052         0              0              0              73
  21  Knife           0.054          0.934          -0.348         0              0              0              85
  22  Knife           -1.197         0.770          2.830          0              90             0              60
  23  Tomato          -1.206         1.686          0.984          0              90             0              99
  24  Tomato          1.034          0.936          2.477          0              0              0              111
  25  SoapBottle      -1.135         0.913          -0.732         0              0              0              85
  26  Bowl            1.367          0.884          2.261          0              0              0              111
  27  Bread           -1.012         0.813          2.087          0              0              0              60
  28  Lettuce         -1.012         0.820          2.644          0              0              0              60
  29  SaltShaker      -0.813         0.908          -0.589         0              0              0              85
  30  SaltShaker      1.049          0.907          0.706          0              0              0              79
  31  Mug             1.207          0.906          0.706          0              0              0              79
  32  Mug             -1.206         1.631          1.289          0              90             0              99
  33  Apple           1.414          0.146          1.472          0              0              0              100
  34  Bread           -1.320         0.814          0.778          0              90             0              99
  35  Glassbottle     1.365          0.912          0.706          0              0              0              79
  36  Fork            1.207          0.912          -0.428         0              0              0              79
  37  Kettle          -1.357         0.739          3.024          0              240.000        0              60
  38  Tomato          -1.320         1.338          1.092          0              90             0              99
  39  Plate           1.128          0.912          0.422          0              0              0              79
  40  CellPhone       -0.919         0.746          2.830          0              0              0              60
  41  Lettuce         1.444          0.982          0.422          0              0              0              79
  42  Pot             0.802          0.939          -0.740         0              90             0              88
  43  SoapBottle      -1.290         0.750          2.830          0              0              0              60
  44  WineBottle      -1.130         0.342          0.883          0              90             0              99
  45  Spatula         -1.197         0.763          2.459          0              0              0              60
  46  Bowl            -1.320         1.419          1.197          0              90             0              99
  47  Apple           1.049          0.971          -0.428         0              0              0              79
  48  Cup             -1.296         1.014          -0.109         0              90             0              105
  49  Knife           1.200          0.908          2.692          0              0              0              111
  50  Egg             -0.082         0.792          -0.533         0              0              0              106
  51  SaltShaker      -0.919         0.745          2.273          0              0              0              60
  52  PepperShaker    1.297          1.656          0.135          0              0              0              61
  53  Potato          -1.263         1.333          1.302          0              90             0              99
  54  ButterKnife     -1.211         0.912          -0.477         0              0              0              85
  55  DishSponge      -1.475         0.748          2.830          0              0              0              60
  56  Pan             -1.332         0.9            -0.699         0              345.0          0              85
  57  Spoon           1.117          0.887          2.261          0              0              0              111
  58  SprayBottle     1.358          1.659          0.194          0              0              0              61
  59  Mug             1.049          0.906          0.139          0              0              0              79
  60  DiningTable     -1.182         0.006          2.414          0              90             0
  61  Cabinet         1.184          2.059          0.375          0              0              0
  62  Cabinet         1.184          2.059          -0.635         0              0              0
  63  Cabinet         0.591          2.309          -0.645         0              0              0
  64  Cabinet         -0.574         2.059          -0.644         0              0              0
  65  Cabinet         -1.103         2.059          -0.644         0              0              0
  66  Cabinet         -1.185         2.059          -0.331         0              0              0
  67  Cabinet         -1.185         2.059          -0.281         0              0              0
  68  Cabinet         -1.185         2.059          0.375          0              0              0
  69  Cabinet         1.184          2.309          1.174          0              0              0
  70  Cabinet         1.184          2.309          0.424          0              0              0
  71  Cabinet         0.988          0.402          0.581          0              0              0
  72  Cabinet         0.988          0.402          0.531          0              0              0
  73  Cabinet         0.988          0.402          -0.178         0              0              0
  74  Cabinet         0.335          0.402          -0.348         0              0              0
  75  Cabinet         -0.374         0.402          -0.348         0              0              0
  76  Cabinet         0.988          0.402          1.231          0              0              0
  77  Cabinet         -1.185         2.309          1.374          0              0              0
  78  Cabinet         -1.185         2.309          0.424          0              0              0
  79  CounterTop      1.274          0.947          0.064          0              0              0
  80  Drawer          1.116          0.792          -0.015         0              0              0
  81  Drawer          -1.116         0.792          0.210          0              180            0
  82  Cabinet         -0.990         0.402          0.374          0              180            0
  83  Drawer          -1.116         0.792          -0.170         0              180            0
  84  Cabinet         -0.990         0.402          -0.335         0              180            0
  85  CounterTop      -1.001         0.947          -0.669         0              0              0
  86  StoveBurner     0.502          0.932          -0.740         0              90             0
  87  StoveBurner     0.801          0.932          -0.473         0              0              0
  88  StoveBurner     0.801          0.932          -0.740         0              90             0
  89  Drawer          1.116          0.792          1.081          0              0              0
  90  Sink            -0.013         0.912          -0.615         0              0              0
  91  Drawer          1.116          0.792          0.732          0              0              0
  92  StoveBurner     0.502          0.932          -0.469         0              0              0
  93  Drawer          1.116          0.792          0.367          0              0              0
  94  StoveKnob       0.550          1.085          -0.912         287.970        180            0
  95  StoveKnob       0.884          1.085          -0.912         287.970        180            0
  96  StoveKnob       0.432          1.085          -0.912         287.970        180            0
  97  StoveKnob       0.777          1.085          -0.912         287.970        180            0
  98  CoffeeMachine   1.304          0.900          -0.741         0              320.314        0
  99  Fridge          -1.300         0.008          0.987          0              90             0
 100  GarbageCan      1.296          -0.024         1.465          0              0              0
 101  Window          -0.012         1.641          -0.972         90             0              0
 102  Window          1.598          1.646          2.489          90             270            0
 103  Toaster         1.356          0.900          1.044          0              270            0
 104  LightSwitch     0.118          1.353          3.799          0              180            0
 105  Microwave       -1.343         0.900          0.053          0              90             0
 106  SinkBasin       -0.029         0.748          -0.612         0              0              0
 107  Faucet          -0.026         0.927          -0.808         0              0              0
 108  Shelf           -1.182         0.127          2.414          0              90             0
 109  Stool           1.140          0.007          3.262          1.206          20.753         0
 110  Shelf           -1.182         0.435          2.414          0              90             0
 111  DiningTable     1.169          0.014          2.569          0              0              1.896
 112  NorthWall
 113  EastWall
 114  SouthWall
 115  WestWall

Plan:
STEP 1: Turn around, go forward a bit, turn right and go to the table | STEP 2: Pick up the knife on the table | STEP 3: Look down to the front of the table | STEP 4: Slice the lettuce on the table | STEP 5: Turn left, go forward, turn right at the fridge | STEP 6: Put the knife in the fridge | STEP 7: Turn right, go forward, turn left at the table | STEP 8: Pick up a lettuce slice from the table | STEP 9: Turn left, go forward, turn right at the fridge | STEP 10: Put the lettuce slice in the fridge, wait, pick up the lettuce slice from the fridge | STEP 11: Turn right, go forward, turn left at the table | STEP 12: Put the lettuce slice on the table | END