Task: Slice a lettuce, wash a slice and cool it

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            0.900          0.0            0              90             0
   1  Pan             -2.59          0.9            -1.147         0              0              0              70
   2  Potato          -0.598         0.933          -1.119         0              47.530         0              70
   3  DishSponge      -2.103         0.746          -1.094         0              0              0              65
   4  Kettle          0.912          1.663          -1.322         0              0              0              48
   5  Spoon           -0.093         1.112          1.814          0              315            0              63
   6  Spoon           -2.628         0.747          0.036          0              0              0              68
   7  Fork            -2.604         0.911          -0.062         0              0              0              62
   8  Spatula         -1.591         0.864          -1.305         0              90             0              80
   9  Spatula         -1.505         0.864          -1.139         0              270            0              80
  10  Cup             -2.800         1.472          0.852          0              90             0              82
  11  Plate           -2.521         0.913          0.190          0              0              0              62
  12  Egg             0.241          1.044          -1.281         0              0              0              83
  13  Egg             0.451          1.040          -1.381         0              0              0              83
  14  Knife           -1.332         0.872          -1.194         0              270            0              80
  15  Knife           0.413          1.134          0.998          0              315            0              63
  16  Tomato          -2.740         1.523          0.609          0              90             0              82
  17  Lettuce         0.765          0.990          -1.199         0              0              0              70
  18  Apple           -2.728         0.089          1.501          0              0              0              81
  19  Apple           -2.860         1.725          0.851          0              90             0              82
  20  Apple           0.451          1.057          -1.281         0              0              0              83
  21  Fork            0.066          1.112          1.804          0              315            0              63
  22  Kettle          -2.620         0.922          -0.724         0              0              0              61
  23  CreditCard      0.997          0.9            -0.982         0              334.941        0              70
  24  Bread           -0.401         0.948          -1.291         0              0              0              70
  25  Plate           -2.800         0.380          0.690          0              90             0              82
  26  SoapBottle      -0.748         0.899          -1.291         0              315            0              70
  27  Spatula         0.997          0.926          -0.948         0              0              0              70
  28  Lettuce         -2.660         0.874          0.983          31.046         0              0              82
  29  SaltShaker      -2.695         0.9            -0.132         0              0              0              62
  30  Tomato          -0.662         0.960          -1.449         0              0              0              70
  31  PepperShaker    -2.830         0.9            -0.112         0              0              0              62
  32  ButterKnife     -2.222         0.9            -0.997         0              323.977        0              70
  33  Pot             -2.622         0.928          -0.396         0              0              0              64
  34  DishSponge      -1.246         0.851          -1.25          0              0              0              80
  35  Egg             0.241          1.044          -1.414         0              0              0              83
  36  Spoon           0.284          1.112          1.888          0              315            0              63
  37  Knife           0.842          0.934          -1.199         0              180            0              70
  38  Cup             0.346          1.004          -1.314         0              0              0              83
  39  Mug             0.372          1.654          -1.353         0              0              0              49
  40  Bowl            -2.046         0.9            -1.163         0              0              0              70
  41  Cabinet         -2.647         2.075          -0.875         0              0              0
  42  Cabinet         -2.647         2.075          -0.234         0              0              0
  43  Cabinet         -0.824         0.469          -0.907         0              0              0
  44  Cabinet         -1.764         2.009          -1.197         0              0              0
  45  Cabinet         -1.834         2.009          -1.197         0              0              0
  46  Cabinet         -1.850         0.389          -0.897         0              0              0
  47  Cabinet         -1.801         0.469          -0.907         0              0              0
  48  Cabinet         1.115          2.009          -1.197         0              0              0
  49  Cabinet         0.235          2.009          -1.197         0              0              0
  50  Cabinet         1.125          0.470          -0.897         0              0              0
  51  Cabinet         -2.387         0.389          0.375          0              0              0
  52  Cabinet         0.484          0.389          -0.897         0              0              0
  53  Cabinet         -2.625         2.009          -1.197         0              0              0
  54  Cabinet         -2.647         2.009          -0.945         0              0              0
  55  Cabinet         -2.647         2.200          1.664          0              0              0
  56  Cabinet         -2.647         2.009          0.364          0              0              0
  57  Cabinet         0.164          2.009          -1.197         0              0              0
  58  Cabinet         -0.765         2.009          -1.197         0              0              0
  59  Cabinet         -0.834         2.009          -1.197         0              0              0
  60  Cabinet         -2.647         2.200          0.434          0              0              0
  61  StoveBurner     -2.622         0.886          -0.711         0              0              0
  62  CounterTop      -2.699         0.946          0.106          0              0              0
  63  CounterTop      0.908          1.147          0.788          0              315            0
  64  StoveBurner     -2.622         0.886          -0.396         0              0              0
  65  Drawer          -2.026         0.779          -1.082         0              0              0
  66  Sink            -1.328         0.916          -1.225         0              0              0
  67  StoveBurner     -2.822         0.886          -0.711         0              0              0
  68  Drawer          -2.572         0.779          0.099          0              0              0
  69  StoveBurner     -2.822         0.886          -0.396         0              0              0
  70  CounterTop      0.071          0.946          -1.199         0              0              0
  71  Drawer          0.254          0.779          -1.082         0              0              0
  72  LightSwitch     -1.167         1.307          3.0            0              180            0
  73  CoffeeMachine   1.124          1.100          0.312          0              227.685        0
  74  StoveKnob       -2.429         0.863          -0.621         311.864        270            180
  75  StoveKnob       -2.429         0.863          -0.477         311.864        270            180
  76  StoveKnob       -2.429         0.863          -0.782         311.864        270            180
  77  StoveKnob       -2.429         0.863          -0.324         311.864        270            180
  78  Window          0.321          1.449          3.088          90             0              0
  79  Toaster         -2.823         0.899          0.246          0              90             0
  80  SinkBasin       -1.344         0.838          -1.25          0              0              0
  81  GarbageCan      -2.757         1.886          1.466          0              0              0
  82  Fridge          -2.855         0.0            0.851          0              0              0
  83  Microwave       0.283          0.900          -1.331         0              0              0
  84  Stool           1.541          0.010          1.328          0              45             0
  85  Stool           0.983          0.010          1.793          0              47.459         0
  86  Faucet          -1.392         1.136          -1.399         0              270            0
  87  NorthWall
  88  EastWall
  89  SouthWall
  90  WestWall

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