Task: Slice a lettuce, put a slice into the pan, put the pan 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           0.75           0.900          4.25           0              90             0
   1  Pan             2.959          1.026          -0.236         0              90             0              53
   2  DishSponge      2.528          0.764          4.152          0              225            0              54
   3  DishSponge      -0.347         1.027          1.079          0              0              0              56
   4  ButterKnife     -0.714         0.816          1.414          0              90             0              110
   5  WineBottle      2.578          1.027          0.907          0              136.999        0              53
   6  WineBottle      3.075          0.033          -1.126         0              0              0              95
   7  Glassbottle     -0.418         1.028          0.416          0              0              0              56
   8  Glassbottle     -0.782         0.817          1.103          0              90             0              110
   9  Pot             1.761          1.027          -1.599         0              0              0              96
  10  Spatula         2.302          0.779          4.32           0              90             0              54
  11  Spoon           -0.669         1.028          1.943          0              0              0              56
  12  Egg             -1.159         1.071          1.612          0              0              0              56
  13  Cup             2.228          0.763          3.795          0              0              0              54
  14  Plate           2.451          0.764          4.495          0              0              0              54
  15  Plate           2.875          1.027          0.068          0              0              0              53
  16  Knife           2.276          0.789          3.895          0              0              0              54
  17  Tomato          2.698          0.818          3.688          0              329.999        0              54
  18  Tomato          2.976          0.818          4.044          0              270            0              54
  19  SoapBottle      -1.102         1.026          1.519          0              0              0              56
  20  SoapBottle      3.043          1.025          0.068          0              0              0              53
  21  SaltShaker      -0.418         1.023          0.877          0              0              0              56
  22  SaltShaker      2.147          0.798          1.150          0              317.0          0              66
  23  Bread           2.555          0.832          3.865          0              225            0              54
  24  Lettuce         -0.645         0.874          1.492          0              90             0              110
  25  Pan             2.042          1.017          1.779          0              0              0              53
  26  Glassbottle     -0.858         0.335          -0.295         0              90             0              97
  27  Knife           -0.782         0.841          1.259          0              180            0              110
  28  SoapBottle      2.673          0.763          4.145          0              0              0              54
  29  Egg             2.228          0.808          3.97           0              0              0              54
  30  Fork            -1.215         1.028          1.150          0              90             0              56
  31  Potato          2.976          0.806          3.747          0              270            0              54
  32  Ladle           2.724          0.071          -0.689         0              0              0              94
  33  Tomato          -0.906         0.839          -0.184         0              90             0              97
  34  Pot             1.836          1.027          -1.84          0              90             0              51
  35  WineBottle      2.597          0.765          3.418          0              329.999        0              54
  36  Plate           2.875          1.027          -1.151         0              0              0              53
  37  Spatula         -0.851         0.831          1.337          0              180            0              110
  38  PaperTowelRoll  2.959          1.131          -0.846         0              0              0              53
  39  Lettuce         -0.922         1.500          -0.295         0              90             0              97
  40  Apple           -0.956         0.127          2.874          0              0              0              108
  41  SaltShaker      -0.669         1.023          2.189          0              0              0              56
  42  PepperShaker    2.874          0.799          -1.132         0              0              0              61
  43  ButterKnife     2.815          0.764          4.124          0              225            0              54
  44  Bread           2.275          0.832          4.118          0              270            0              54
  45  Cup             1.895          1.859          -1.809         0              0              0              99
  46  DishSponge      2.706          0.800          0.164          0              0              0              64
  47  Bowl            1.341          1.779          -1.833         0              0              0              93
  48  Spoon           -0.544         1.028          2.556          0              0              0              56
  49  Mug             2.106          1.856          -1.775         0              0              0              99
  50  Sink            -0.716         1.023          1.333          0              0              0
  51  StoveBurner     1.835          1.018          -1.840         0              90             0
  52  StoveBurner     2.177          1.018          -1.599         0              0              0
  53  CounterTop      2.812          0.992          0.675          0              0              0
  54  DiningTable     2.419          0.003          3.930          0              0              0
  55  Drawer          -0.643         0.828          0.616          0              0              0
  56  CounterTop      -0.813         1.062          2.188          0              0              0
  57  StoveBurner     2.115          1.018          -1.840         0              270            0
  58  Drawer          -0.643         0.831          1.953          0              0              0
  59  Drawer          -0.643         0.833          2.418          0              0              0
  60  Drawer          1.347          0.836          -1.539         0              0              0
  61  Drawer          2.693          0.833          -1.131         0              0              0
  62  Drawer          2.693          0.833          -0.699         0              0              0
  63  Drawer          2.693          0.833          -0.267         0              0              0
  64  Drawer          2.693          0.833          0.163          0              0              0
  65  Drawer          2.524          0.833          0.720          0              2.000          0
  66  Drawer          2.232          0.833          1.036          0              2.000          0
  67  Drawer          1.936          0.833          1.354          0              2.000          0
  68  Drawer          1.646          0.833          1.670          0              2.000          0
  69  Cabinet         1.504          2.475          -1.710         0              0              0
  70  Cabinet         -0.823         2.220          1.621          0              0              0
  71  Cabinet         -0.823         2.220          0.615          0              0              0
  72  Cabinet         1.136          0.388          -1.355         0              0              0
  73  Cabinet         -0.356         0.383          2.626          0              0              0
  74  Cabinet         2.745          2.220          -1.690         0              0              0
  75  Cabinet         1.882          0.383          1.017          0              0              0
  76  Cabinet         1.307          0.473          1.640          0              0              0
  77  Cabinet         1.892          0.383          1.006          0              0              0
  78  Cabinet         2.467          0.383          0.383          0              0              0
  79  Cabinet         2.466          0.383          -0.475         0              0              0
  80  Cabinet         2.466          0.473          0.371          0              0              0
  81  Cabinet         2.386          2.475          -1.710         0              0              0
  82  Cabinet         -0.356         0.383          1.712          0              0              0
  83  Cabinet         2.745          2.220          0.019          0              0              0
  84  Cabinet         -0.663         2.496          0.157          0              0              0
  85  Cabinet         -0.663         2.496          -0.868         0              0              0
  86  Cabinet         -0.356         0.383          0.269          0              0              0
  87  Cabinet         -0.823         2.220          1.603          0              0              0
  88  Cabinet         -0.662         2.234          0.586          0              0              0
  89  Cabinet         2.745          2.220          -0.843         0              0              0
  90  Cabinet         2.745          2.220          -0.827         0              0              0
  91  Cabinet         -0.823         2.220          2.608          0              0              0
  92  Cabinet         2.732          2.226          -1.709         0              0              0
  93  Cabinet         1.137          2.226          -1.709         0              0              0
  94  Cabinet         2.466          0.383          -0.491         0              0              0
  95  Cabinet         2.466          0.383          -1.339         0              0              0
  96  StoveBurner     1.761          1.018          -1.599         0              0              0
  97  Fridge          -0.908         0.0            -0.405         0              0              0
  98  HousePlant      2.517          1.016          1.822          0              0              0
  99  Microwave       1.939          1.745          -1.826         0              0              0
 100  StoveKnob       2.017          1.041          -1.514         0              180            180
 101  StoveKnob       1.934          1.041          -1.514         0              180            180
 102  StoveKnob       2.017          1.041          -1.589         0              180            180
 103  StoveKnob       1.934          1.041          -1.589         0              180            180
 104  Window          1.756          1.608          4.762          90             0              0
 105  HousePlant      2.171          1.004          2.091          0              0              0
 106  CoffeeMachine   -0.942         1.018          0.645          0              90             0
 107  LightSwitch     -0.099         1.410          -2.066         0              0              0
 108  GarbageCan      -0.951         -0.029         2.826          0              0              0
 109  Toaster         -1.007         1.018          2.238          0              90             0
 110  SinkBasin       -0.714         0.805          1.348          0              90             0
 111  Chair           1.615          0.004          4.310          0              107.976        0
 112  Faucet          -1.120         1.013          1.334          0              90             0
 113  Chair           2.759          0.004          3.086          0              358.967        0
 114
 115  NorthWall
 116  EastWall
 117  SouthWall
 118  WestWall

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