Task: Slice a head of lettuce, chill a slice, put the slice in front of the sink

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.5           0.901          -2.75          0              90             0
   1  Pan             -0.165         0.975          -2.450         0              0              0              75
   2  Potato          -3.079         1.057          -1.941         0              90             0              84
   3  DishSponge      -3.226         1.867          -2.566         0              0              0              52
   4  DishSponge      -1.707         0.790          -3.747         0              0              0              85
   5  Spatula         -0.095         0.930          -1.555         0              90             0              70
   6  Spatula         -0.500         0.761          -3.079         0              90             0              73
   7  Spoon           -2.803         0.714          -0.069         0              0              0              87
   8  Fork            -3.111         0.714          -0.652         0              225            0              87
   9  Egg             -2.753         0.752          -0.206         0              225            0              87
  10  Egg             -2.581         0.752          -0.308         0              270            0              87
  11  Plate           -3.182         0.639          -1.941         0              90             0              84
  12  Knife           -3.393         0.946          -3.227         0              0              0              43
  13  Tomato          -3.079         1.448          -1.941         0              90             0              84
  14  SoapBottle      -0.864         1.292          -3.927         0              0              0              57
  15  Bowl            -0.813         0.079          -3.714         0              0              0              45
  16  SaltShaker      -0.382         0.743          -3.079         0              0              0              73
  17  SaltShaker      -2.608         0.713          -0.841         0              135            0              87
  18  PepperShaker    -0.093         1.290          -1.201         0              0              0              49
  19  Mug             -0.127         1.007          -0.950         0              270            0              80
  20  Mug             -2.678         0.708          -0.922         0              0              0              87
  21  Apple           -1.914         0.833          -3.832         0              0              0              85
  22  Pot             -2.836         0.903          -3.745         0              92.628         0              43
  23  Egg             -3.182         1.434          -2.187         0              90             0              84
  24  Cup             -1.080         1.293          -4.005         0              0              0              57
  25  Bread           -0.327         0.948          -3.681         0              298.222        0              43
  26  Fork            -2.581         0.714          -0.433         0              270            0              87
  27  Pan             -0.376         0.975          -2.031         0              180            0              72
  28  Potato          -2.439         0.760          -0.621         0              270            0              87
  29  Lettuce         -1.324         0.988          -3.759         1.631          253.771        357.213        43
  30  Tomato          -3.292         0.766          -0.495         0              270            0              87
  31  Apple           -2.439         0.756          -0.308         0              270            0              87
  32  SoapBottle      -1.569         0.082          -3.673         0              0              0              59
  33  Spatula         -0.471         0.761          -0.761         0              90             0              69
  34  SaltShaker      0.007          0.910          -2.911         0              0              0              43
  35  Knife           -3.561         0.946          -3.227         0              90             0              43
  36  PepperShaker    -2.009         0.910          -4.008         0              0              0              43
  37  ButterKnife     -0.338         0.916          -0.455         0              0              0              70
  38  Plate           -0.338         0.914          -1.616         0              0              0              70
  39  DishSponge      -1.845         0.790          -3.747         0              0              0              85
  40  Spoon           -2.608         0.718          -0.150         0              225            0              87
  41  Mug             -0.095         0.910          -0.524         0              90             0              70
  42  Bowl            -2.777         0.714          -0.584         0              225            0              87
  43  CounterTop      -1.789         0.949          -3.803         0              0              0
  44  Cabinet         -0.577         0.388          -3.476         0              0              0
  45  Cabinet         -0.605         0.388          -3.511         0              0              0
  46  Cabinet         -2.976         0.388          -3.201         0              0              0
  47  Cabinet         -0.577         0.388          -0.447         0              0              0
  48  Cabinet         -0.577         0.388          -1.725         0              0              0
  49  Cabinet         -0.226         1.803          -1.743         0              0              0
  50  Cabinet         -0.228         1.799          -0.447         0              0              0
  51  Cabinet         -6.010         1.139          -6.019         0              0              0
  52  Cabinet         -3.022         2.098          -2.681         0              0              0
  53  Cabinet         -3.022         2.098          -1.743         0              0              0
  54  Cabinet         -0.577         0.388          -2.736         0              0              0
  55  Cabinet         -3.232         1.803          -3.343         0              0              0
  56  Cabinet         -2.811         1.810          -3.764         0              0              0
  57  Cabinet         -1.233         1.810          -3.764         0              0              0
  58  Cabinet         -1.364         0.388          -3.511         0              0              0
  59  Cabinet         -1.380         0.388          -3.511         0              0              0
  60  Cabinet         -0.226         1.803          -2.725         0              0              0
  61  Cabinet         -0.236         2.098          -1.767         0              0              0
  62  Cabinet         -0.236         2.098          -2.705         0              0              0
  63  Cabinet         -0.193         1.210          -4.239         0              0              0
  64  Cabinet         -2.148         0.388          -3.511         0              0              0
  65  Drawer          -3.104         0.797          -2.968         0              0              0
  66  Drawer          -0.449         0.797          -1.410         0              0              0
  67  Sink            -1.786         0.902          -3.748         0              0              0
  68  StoveBurner     -0.376         0.936          -2.451         0              0              0
  69  Drawer          -0.449         0.797          -0.762         0              0              0
  70  CounterTop      -0.268         0.951          -1.089         0              0              0
  71  Drawer          -0.449         0.797          -3.348         0              0              0
  72  StoveBurner     -0.376         0.936          -2.031         0              180            0
  73  Drawer          -0.449         0.797          -2.968         0              0              0
  74  StoveBurner     -0.165         0.936          -2.030         0              180            0
  75  StoveBurner     -0.165         0.936          -2.450         0              0              0
  76  StoveKnob       -0.568         0.903          -2.313         45             270            0
  77  StoveKnob       -0.568         0.903          -2.470         45             270            0
  78  StoveKnob       -0.568         0.903          -2.166         45             270            0
  79  StoveKnob       -0.568         0.903          -2.003         45             270            0
  80  Microwave       -0.143         0.903          -0.908         0              270            0
  81  LightSwitch     -1.108         1.457          0.338          0              180            0
  82  GarbageCan      -0.283         -0.032         -0.035         0              270            0
  83  CoffeeMachine   -3.104         0.837          -0.185         0              135            0
  84  Fridge          -3.188         0.0            -2.184         0              0              0
  85  SinkBasin       -1.786         0.779          -3.747         0              0              0
  86  Toaster         -0.230         0.903          -3.406         0              270            0
  87  DiningTable     -2.800         0.003          -0.505         0              0              0
  88  Chair           -3.044         0.003          -1.223         0              32.194         0
  89  Faucet          -1.791         1.136          -3.913         0              270            0
  90  NorthWall
  91  EastWall
  92  SouthWall
  93  WestWall

Plan:
STEP 1: Turn around and walk to the knife on the far counter to the right of the sink. | STEP 2: Pick up the knife from the counter. | STEP 3: Turn to your left and walk to the lettuce to the left of the sink. | STEP 4: Slice the lettuce on the counter. | STEP 5: Move slightly to your left and turn so the counter with the lettuce is on your left side. | STEP 6: Place the knife on the counter in front of the lettuce. | STEP 7: Move to stand directly in front of the lettuce and the knife. | STEP 8: Pick up the left end of the lettuce. | STEP 9: Turn to your right and walk to the fridge. | STEP 10: Open the fridge door and place the lettuce slice to the left of the potato on the top shelf, close the door; after cooling, open the door, pick up the lettuce slice, close the door. | STEP 11: Turn to your left and walk to the sink. | STEP 12: Place the lettuce slice on the counter directly in front of the sink. | END