Task: slice a lettuce put a slice on a bowl onto the refrigerator

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.0            0.900          2.0            0              0              0
   1  Ladle           1.647          0.957          -1.212         0              0              0              64
   2  DishSponge      1.566          0.552          2.379          0              0              0              90
   3  DishSponge      -0.356         0.764          -2.071         0              0              0              76
   4  WineBottle      -1.000         0.914          -2.260         0              0              0              64
   5  Pot             1.567          0.948          -0.757         0              0              0              46
   6  Spoon           -0.210         0.765          -1.981         0              0              0              76
   7  Egg             -1.438         0.913          -0.910         0              90             0              72
   8  Plate           -1.495         1.187          -0.599         0              90             0              72
   9  Plate           -1.316         1.663          -1.729         0              90             0              47
  10  Knife           0.002          0.936          -1.701         0              0              0              64
  11  Tomato          0.180          0.982          0.076          0              0              0              81
  12  SoapBottle      -0.047         0.929          0.305          0              0              0              81
  13  SoapBottle      -0.160         0.929          0.762          0              0              0              81
  14  Bowl            1.773          0.549          2.534          0              0              0              90
  15  PepperShaker    1.462          0.549          2.534          0              0              0              84
  16  Bread           -0.047         0.975          1.220          0              0              0              81
  17  Bread           0.180          0.975          0.534          0              0              0              81
  18  Mug             -0.137         0.759          -2.116         0              0              0              76
  19  Mug             -0.064         0.759          -1.936         0              0              0              76
  20  Apple           -1.000         0.984          -2.151         0              0              0              64
  21  Apple           -0.160         0.997          0.991          0              0              0              81
  22  Apple           -1.252         1.086          -1.638         0              90             0              70
  23  Potato          0.081          0.793          -2.071         0              90             0              76
  24  Bowl            1.528          1.656          -2.124         0              0              0              51
  25  SoapBottle      -0.230         0.912          -1.725         0              0              0              64
  26  Fork            2.009          0.914          -1.095         0              270            0              64
  27  Ladle           0.180          0.971          0.991          0              0              0              81
  28  Bread           0.399          0.964          0.110          0              0              1.601          81
  29  Lettuce         -1.429         0.925          -0.542         0              315            0              72
  30  WineBottle      -1.116         0.127          -1.426         0              90             0              59
  31  Spatula         0.294          0.945          1.448          0              0              0              81
  32  Plate           1.850          0.916          -1.918         0              0              0              64
  33  SaltShaker      0.408          0.923          1.220          0              0              0              81
  34  Pot             1.919          0.911          -1.446         0              90             0              64
  35  Cup             0.066          0.927          0.305          0              0              0              81
  36  PepperShaker    1.909          1.653          -1.673         0              270            0              54
  37  Pan             1.824          0.945          -0.346         0              0              0              45
  38  ButterKnife     0.180          0.930          1.220          0              0              0              81
  39  Tomato          -1.610         1.235          -1.013         0              90             0              72
  40  DishSponge      1.669          0.880          2.510          0              0              0              84
  41  Egg             -1.317         1.069          -1.794         0              90             0              70
  42  Spoon           0.294          0.931          0.534          0              180            0              81
  43  Knife           0.294          0.950          0.762          0              180            0              81
  44  Mug             -1.553         0.854          -0.703         0              90             0              72
  45  StoveBurner     1.845          0.940          -0.355         0              0              0
  46  StoveBurner     1.567          0.940          -0.757         0              0              0
  47  Cabinet         -1.149         2.019          -1.979         0              90             0
  48  Cabinet         -1.149         2.265          -0.834         0              90             0
  49  Cabinet         -0.459         2.265          -2.0           0              0              0
  50  Cabinet         -1.100         2.019          -2.0           0              0              0
  51  Cabinet         1.719          2.019          -2.0           0              0              0
  52  Cabinet         1.179          2.019          -2.0           0              0              0
  53  Cabinet         0.199          2.019          -2.0           0              0              0
  54  Cabinet         1.75           2.019          -1.399         0              270            0
  55  Cabinet         1.75           2.019          -1.029         0              270            0
  56  Cabinet         1.379          0.469          -1.689         0              0              0
  57  Cabinet         -0.819         0.469          -1.689         0              0              0
  58  Cabinet         1.389          0.469          -1.059         0              270            0
  59  Cabinet         -0.839         0.469          -1.665         0              90             0
  60  StoveBurner     1.567          0.940          -0.355         0              0              0
  61  StoveBurner     1.845          0.940          -0.757         0              0              0
  62  Sink            -0.109         0.893          -2.009         0              0              0
  63  Drawer          -0.819         0.75           -1.690         0              0              0
  64  CounterTop      0.232          0.949          -2.002         0              0              0
  65  GarbageCan      1.855          -0.034         0.141          0              358.959        0
  66  Vase            0.251          0.546          0.475          0              270            0
  67  Toaster         0.780          0.900          -2.080         0              0              0
  68  LightSwitch     0.108          1.315          2.75           0              180            0
  69  Vase            0.400          0.925          0.218          0              180            0
  70  Microwave       -1.233         0.900          -1.680         0              90             0
  71  Vase            1.465          1.662          -2.200         0              0              0
  72  Fridge          -1.495         0.0            -0.703         0              0              0
  73  Window          2.114          1.495          1.072          90             270            0
  74  CoffeeMachine   1.374          0.899          -2.112         0              0              0
  75  Vase            0.333          0.546          1.272          0              270            0
  76  SinkBasin       -0.148         0.753          -2.026         0              0              0
  77  StoveKnob       2.037          1.089          -0.405         0              0              74.477
  78  StoveKnob       2.037          1.089          -0.251         0              0              74.477
  79  StoveKnob       2.037          1.089          -0.649         0              0              74.477
  80  StoveKnob       2.037          1.089          -0.814         0              0              74.477
  81  DiningTable     0.170          0.005          0.678          0              270            0
  82  Shelf           0.170          0.155          0.678          0              270            0
  83  Shelf           1.605          0.172          2.480          0              0              0
  84  Shelf           1.605          0.552          2.480          0              0              0
  85  Shelf           1.604          0.880          2.479          0              0              0
  86  ShelvingUnit    1.605          0.006          2.480          0              0              0
  87  Faucet          -0.143         1.028          -2.223         0              270            0
  88  Stool           -0.553         0.000          0.871          1.233          280.376        0
  89  Shelf           0.170          0.528          0.678          0              270            0
  90
  91  NorthWall
  92  EastWall
  93  SouthWall
  94  WestWall

Plan:
STEP 1: turn to the left go left turn to the right go left towards the sink | STEP 2: pick up the knife that is on the counter | STEP 3: turn around to the right go left towards the refrigerator | STEP 4: open the refrigerator slice the lettuce that is inside  | STEP 5: close the refrigerator turn to the left  | STEP 6: open the refrigerator back again put the knife inside of the refrigerator | STEP 7: turn to around to the right open the refrigerator back again | STEP 8: pick up a slice of lettuce from the refrigerator | STEP 9: turn around to the left go right facing the cabinets | STEP 10: open the top cabinet pick up a bowl from the cabinet | STEP 11: put the slice of lettuce inside of it | STEP 12: turn to the right and across the room towards the refrigerator  | STEP 13: open the refrigerator put the bowl inside of it | END