Task: Slice a lettuce, wash a slice of lettuce and put it in the fridge

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -2.5           0.901          -3.0           0              0              0
   1  Pan             -0.165         0.975          -2.450         0              0              0              78
   2  Potato          -0.650         0.957          -3.952         0              0              0              46
   3  Potato          -3.234         0.685          -2.002         0              90             0              87
   4  ButterKnife     -0.338         0.916          -0.542         0              0              0              73
   5  ButterKnife     -0.447         0.913          -3.729         0              0              0              46
   6  Spoon           -2.708         0.718          -0.250         0              135            0              90
   7  Spoon           -2.797         0.718          -0.162         0              135            0              90
   8  Fork            -2.987         0.914          -3.581         0              0              0              46
   9  Fork            -3.199         0.747          -3.023         0              90             0              68
  10  Egg             -1.569         0.826          -3.661         0              0              0              88
  11  Egg             -3.286         1.049          -2.187         0              90             0              87
  12  Cup             -1.262         0.914          -3.804         0              0              0              46
  13  Plate           -0.374         0.078          -0.838         0              0              0              50
  14  Plate           -0.244         0.911          -3.012         0              0              0              46
  15  Knife           -3.225         0.946          -2.926         0              0              0              46
  16  Knife           -0.352         0.778          -0.912         0              90             0              72
  17  SoapBottle      -0.338         0.915          -1.555         0              0              0              73
  18  Bowl            -3.182         1.396          -2.064         0              90             0              87
  19  PepperShaker    -2.620         0.713          -0.339         0              225            0              90
  20  Lettuce         -0.854         1.001          -3.878         0              0              0              46
  21  Mug             -1.313         0.075          -3.597         0              180            0              61
  22  Mug             -0.158         1.007          -0.950         0              0              0              83
  23  Apple           -0.065         1.055          -0.900         0              270            0              83
  24  Apple           -2.439         0.759          -0.371         0              270            0              90
  25  Pot             -2.836         0.903          -3.745         0              92.628         0              46
  26  Egg             -3.056         0.949          -3.026         0              0              0              46
  27  Cup             -3.182         1.013          -2.125         0              90             0              87
  28  Bread           -2.708         0.754          -0.741         0              135            0              90
  29  Fork            -3.150         0.714          -0.558         0              270            0              90
  30  Pan             -0.376         0.975          -2.031         0              180            0              75
  31  Potato          -3.027         1.442          -1.941         0              90             0              87
  32  Lettuce         -0.650         1.001          -3.655         0              0              0              46
  33  Tomato          -1.707         0.840          -3.832         0              0              0              88
  34  Apple           -3.036         0.929          -2.531         0              90             0              87
  35  SoapBottle      -2.765         0.716          -0.395         0              225            0              90
  36  Spatula         0.007          0.928          -3.112         0              0              0              46
  37  SaltShaker      -1.436         0.910          -4.027         0              0              0              46
  38  Knife           -0.441         0.779          -1.563         0              90             0              69
  39  PepperShaker    -3.346         0.910          -3.655         0              0              0              46
  40  ButterKnife     -0.095         0.916          -1.616         0              0              0              73
  41  Plate           -2.444         1.293          -3.888         0              0              0              59
  42  DishSponge      -3.226         1.867          -2.029         0              0              0              56
  43  Spoon           -1.845         0.791          -3.704         0              0              0              88
  44  Mug             -2.723         0.711          -0.496         0              270            0              90
  45  Bowl            -1.569         0.080          -3.634         0              0              0              62
  46  CounterTop      -1.789         0.949          -3.803         0              0              0
  47  Cabinet         -0.577         0.388          -3.476         0              0              0
  48  Cabinet         -0.605         0.388          -3.511         0              0              0
  49  Cabinet         -2.976         0.388          -3.201         0              0              0
  50  Cabinet         -0.577         0.388          -0.447         0              0              0
  51  Cabinet         -0.577         0.388          -1.725         0              0              0
  52  Cabinet         -0.226         1.803          -1.743         0              0              0
  53  Cabinet         -0.228         1.799          -0.447         0              0              0
  54  Cabinet         -6.010         1.139          -6.019         0              0              0
  55  Cabinet         -3.022         2.098          -2.681         0              0              0
  56  Cabinet         -3.022         2.098          -1.743         0              0              0
  57  Cabinet         -0.577         0.388          -2.736         0              0              0
  58  Cabinet         -3.232         1.803          -3.343         0              0              0
  59  Cabinet         -2.811         1.810          -3.764         0              0              0
  60  Cabinet         -1.233         1.810          -3.764         0              0              0
  61  Cabinet         -1.364         0.388          -3.511         0              0              0
  62  Cabinet         -1.380         0.388          -3.511         0              0              0
  63  Cabinet         -0.226         1.803          -2.725         0              0              0
  64  Cabinet         -0.236         2.098          -1.767         0              0              0
  65  Cabinet         -0.236         2.098          -2.705         0              0              0
  66  Cabinet         -0.193         1.210          -4.239         0              0              0
  67  Cabinet         -2.148         0.388          -3.511         0              0              0
  68  Drawer          -3.104         0.797          -2.968         0              0              0
  69  Drawer          -0.449         0.797          -1.410         0              0              0
  70  Sink            -1.786         0.902          -3.748         0              0              0
  71  StoveBurner     -0.376         0.936          -2.451         0              0              0
  72  Drawer          -0.449         0.797          -0.762         0              0              0
  73  CounterTop      -0.268         0.951          -1.089         0              0              0
  74  Drawer          -0.449         0.797          -3.348         0              0              0
  75  StoveBurner     -0.376         0.936          -2.031         0              180            0
  76  Drawer          -0.449         0.797          -2.968         0              0              0
  77  StoveBurner     -0.165         0.936          -2.030         0              180            0
  78  StoveBurner     -0.165         0.936          -2.450         0              0              0
  79  StoveKnob       -0.568         0.903          -2.313         45             270            0
  80  StoveKnob       -0.568         0.903          -2.470         45             270            0
  81  StoveKnob       -0.568         0.903          -2.166         45             270            0
  82  StoveKnob       -0.568         0.903          -2.003         45             270            0
  83  Microwave       -0.143         0.903          -0.908         0              270            0
  84  LightSwitch     -1.108         1.457          0.338          0              180            0
  85  GarbageCan      -0.283         -0.032         -0.035         0              270            0
  86  CoffeeMachine   -3.104         0.837          -0.185         0              135            0
  87  Fridge          -3.188         0.0            -2.184         0              0              0
  88  SinkBasin       -1.786         0.779          -3.747         0              0              0
  89  Toaster         -0.230         0.903          -3.406         0              270            0
  90  DiningTable     -2.800         0.003          -0.505         0              0              0
  91  Chair           -3.044         0.003          -1.223         0              32.194         0
  92  Faucet          -1.791         1.136          -3.913         0              270            0
  93  NorthWall
  94  EastWall
  95  SouthWall
  96  WestWall

Plan:
STEP 1: Turn around, go forward, turn left, go to the counter | STEP 2: Pick up the knife on the counter | STEP 3: Turn right and face the counter | STEP 4: Slice the lettuce on the counter | STEP 5: Move a bit to the right,  turn left | STEP 6: Put the knife in the cupboard | STEP 7: Go forward a bit, turn right | STEP 8: Pick up a lettuce slice from the counter | STEP 9: Turn right, go forward, turn left at 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 and go to the fridge | STEP 12: Put the lettuce slice in the fridge | END