Task: put a slice of chilled lettuce on the table

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.75          0.900          5.5            0              90             0
   1  Pan             1.559          0.988          4.294          0              0              0              45
   2  Potato          1.497          0.925          2.085          0              90             0              70
   3  ButterKnife     0.192          0.771          0.507          0              0              0              44
   4  Spoon           -0.138         0.761          6.282          0              225            0              83
   5  Spoon           -0.481         0.773          0.507          0              0              0              43
   6  Egg             1.276          0.940          2.137          0              90             0              70
   7  Egg             1.442          0.941          2.474          0              90             0              70
   8  Knife           0.847          1.022          0.303          0              180            0              47
   9  Tomato          1.966          1.565          6.001          0              270            0              69
  10  Lettuce         -0.422         0.848          6.653          0              135            0              83
  11  Apple           2.009          1.590          5.876          0              270            0              69
  12  Bowl            0.305          0.759          6.479          0              270            0              83
  13  Bread           -0.159         0.829          6.787          0              0              0              83
  14  Egg             1.276          0.941          2.474          0              90             0              70
  15  Knife           0.328          0.801          0.451          0              90             0              44
  16  Fork            0.150          0.760          6.479          0              270            0              83
  17  Apple           0.273          1.171          0.213          0              0              0              63
  18  Kettle          1.317          0.988          4.294          0              0              0              42
  19  Plate           0.847          0.993          0.578          0              0              0              47
  20  SaltShaker      0.028          0.755          6.787          0              0              0              83
  21  Lettuce         0.104          0.848          6.653          0              225            0              83
  22  SoapBottle      1.135          0.992          4.670          0              0              0              48
  23  Spatula         -0.356         0.775          6.458          0              315            0              83
  24  PaperTowelRoll  -0.384         1.096          0.486          0              0              0              47
  25  Pot             1.562          0.988          3.848          0              0              0              41
  26  Potato          -0.621         0.794          6.666          0              270            0              83
  27  ButterKnife     0.803          0.772          0.563          0              0              0              39
  28  PepperShaker    1.314          0.136          4.763          0              0              0              49
  29  Pan             1.079          1.577          0.295          0              90             0              54
  30  Tomato          1.907          0.130          6.439          0              0              0              71
  31  DishSponge      1.238          0.770          4.644          0              0              0              37
  32  Cup             2.051          1.511          5.751          0              270            0              69
  33  Spoon           1.403          0.993          3.324          0              0              0              47
  34  Mug             1.384          1.043          0.847          0              270            0              47
  35  Cabinet         1.307          2.455          4.360          0              0              0
  36  Cabinet         1.054          0.422          1.710          0              0              0
  37  Drawer          1.280          0.808          4.718          0              0              0
  38  Cabinet         1.307          2.455          3.607          0              0              0
  39  Drawer          0.736          0.802          0.521          0              0              0
  40  Drawer          1.276          0.802          3.291          0              0              0
  41  StoveBurner     1.562          0.982          3.848          0              0              0
  42  StoveBurner     1.317          0.982          4.294          0              0              0
  43  Drawer          -0.482         0.802          0.521          0              0              0
  44  Drawer          0.124          0.802          0.521          0              0              0
  45  StoveBurner     1.559          0.982          4.294          0              0              0
  46  StoveBurner     1.320          0.982          3.848          0              0              0
  47  CounterTop      1.391          1.028          0.897          0              0              0
  48  CounterTop      1.391          1.028          4.716          0              0              0
  49  Cabinet         1.054          0.422          4.548          0              0              0
  50  Cabinet         1.317          2.134          0.517          0              0              0
  51  Cabinet         1.317          2.134          4.889          0              0              0
  52  Cabinet         1.317          2.134          3.095          0              0              0
  53  Cabinet         0.443          0.422          0.743          0              0              0
  54  Cabinet         1.270          2.134          0.434          0              0              0
  55  Cabinet         -0.775         0.422          0.743          0              0              0
  56  Cabinet         -0.168         0.422          0.743          0              0              0
  57  Cabinet         1.317          2.134          1.534          0              0              0
  58  Cabinet         1.054          0.422          2.990          0              0              0
  59  Cabinet         1.054          0.422          2.944          0              0              0
  60  Cabinet         -0.263         2.134          0.434          0              0              0
  61  Cabinet         0.252          2.134          0.434          0              0              0
  62  Sink            1.391          1.006          2.326          0              0              0
  63  Microwave       0.108          0.981          0.262          0              0              0
  64  HousePlant      -0.165         0.826          6.444          0              0              0
  65  CoffeeMachine   1.551          0.982          0.953          0              270            0
  66  Toaster         1.473          0.981          4.715          0              270            0
  67  Window          -2.065         1.916          3.626          90             90             0
  68  Window          1.763          2.007          2.299          90             270            0
  69  Fridge          2.035          0.0            5.625          0              0              0
  70  SinkBasin       1.387          0.880          2.338          0              90             0
  71  GarbageCan      2.001          -0.044         6.503          0              0              0
  72  StoveKnob       1.140          0.934          3.987          45             270            0
  73  StoveKnob       1.140          0.934          4.309          45             270            0
  74  StoveKnob       1.140          0.934          4.140          45             270            0
  75  StoveKnob       1.140          0.934          3.824          45             270            0
  76  Vase            -0.226         0.834          6.993          0              0              0
  77  Vase            2.098          0.043          7.070          0              257.232        0
  78  Vase            -0.594         0.835          6.130          0              225            0
  79  LightSwitch     -2.0           1.549          6.045          0              90             0
  80  Safe            2.046          1.072          7.054          0              257.232        0
  81  Faucet          1.534          1.025          2.371          0              294.391        0
  82  Blinds          1.738          2.563          2.312          0              90             0
  83  DiningTable     -0.156         0.000          6.474          0              0              0
  84  Chair           0.291          0.002          6.142          0              310.162        0
  85  GarbageBag      -1.092         0.318          0.268          270            90             83.492
  86  NorthWall
  87  EastWall
  88  SouthWall
  89  WestWall

Plan:
STEP 1: move across the room to the refrigerator and turn right and all the way to the counter | STEP 2: pick up the knife with the yellow handle from the counter that is behind the plate | STEP 3: turn around and go across the room turning to the left to face the black table at the end of the kitchen | STEP 4: slice a piece of lettuce from the head of lettuce sitting on the table with the knife | STEP 5: move slightly left to face the bowl on the table | STEP 6: put the knife on the table to the right of the bowl | STEP 7: move slightly right to face the head of lettuce on the table | STEP 8: pick up the slice of lettuce from the table | STEP 9: turn around to face the front of the refrigerator | STEP 10: open the fridge doors and put the slice of lettuce on the top shelf, close the doors and open the doors again after five seconds and remove the lettuce slice | STEP 11: turn around to face the round black table | STEP 12: put the chilled slice of lettuce on the table next to the right of the remaining head of lettuce | END