Task: Cutting up lettuce, chilling it, placing it in 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           -0.25          0.900          2.5            0              180            0
   1  Potato          1.422          0.876          1.398          0              180            0              80
   2  DishSponge      -0.758         0.746          1.050          0              180            0              61
   3  ButterKnife     -1.043         0.937          0.921          0              0              0              63
   4  ButterKnife     -0.793         0.937          0.687          0              0              0              63
   5  Pot             -1.109         0.930          1.470          0              0              0              40
   6  Cup             -1.211         0.936          2.234          0              0              0              38
   7  Cup             -1.209         0.936          0.998          0              0              0              63
   8  Plate           -0.791         0.088          0.985          0              0              0              50
   9  Knife           -0.960         0.959          1.154          0              0              0              63
  10  Knife           1.362          0.959          1.007          0              270            0              43
  11  Tomato          1.456          0.131          2.879          0              0              0              76
  12  SaltShaker      -0.827         0.743          0.847          0              180            0              61
  13  PepperShaker    1.448          0.742          1.052          0              0              0              68
  14  Mug             -0.971         1.494          0.272          0              90             0              70
  15  Apple           1.652          1.645          1.808          0              270            0              77
  16  Apple           -0.877         1.548          0.042          0              90             0              70
  17  Lettuce         1.592          1.028          1.007          0              0              0              43
  18  SoapBottle      1.669          0.937          0.739          0              0              0              43
  19  Bread           -0.923         0.990          2.265          0              302.470        0              38
  20  Fork            1.275          0.747          2.459          0              90             0              41
  21  Tomato          -1.012         0.876          0.042          0              90             0              70
  22  Bowl            1.700          1.944          1.924          0              0              0              55
  23  Pot             -1.109         0.930          1.865          0              0              0              62
  24  Spatula         -0.710         0.952          1.154          0              0              0              63
  25  Knife           -0.896         0.768          0.914          0              90             0              61
  26  SaltShaker      -0.861         0.743          0.711          0              180            0              61
  27  Apple           -1.211         0.987          2.386          0              0              0              38
  28  PepperShaker    1.310          0.743          1.120          0              0              0              68
  29  ButterKnife     -0.960         0.937          0.687          0              0              0              63
  30  Potato          -1.065         1.531          -0.034         0              90             0              70
  31  Plate           1.391          0.086          0.918          0              0              0              64
  32  DishSponge      1.748          0.937          1.780          0              0              0              43
  33  Egg             1.357          0.105          2.847          0              0              0              76
  34  Cup             1.385          1.070          0.274          0              0              0              44
  35  Pan             1.378          1.737          0.392          0              270            0              46
  36  Spoon           1.439          0.939          2.118          0              0              0              43
  37  Mug             1.750          1.496          2.526          0              0              0              57
  38  CounterTop      -0.973         0.973          2.386          0              0              0
  39  Drawer          -0.783         0.774          2.381          0              180            0
  40  StoveBurner     -1.108         0.922          1.470          0              0              0
  41  Drawer          1.370          0.774          2.391          0              0              0
  42  Stool           -0.748         0.008          3.116          0              0              0
  43  CounterTop      1.504          0.973          2.309          0              0              0
  44  Cabinet         1.219          1.388          0.591          0              0              0
  45  Cabinet         1.500          2.113          1.164          0              0              0
  46  Cabinet         1.219          2.010          0.591          0              0              0
  47  Cabinet         1.219          0.388          2.105          0              0              0
  48  Cabinet         1.219          0.553          0.591          0              0              0
  49  Cabinet         -0.913         2.113          1.164          0              0              0
  50  Cabinet         -0.633         0.388          0.627          0              0              0
  51  Cabinet         -0.913         2.050          -0.329         0              0              0
  52  Cabinet         -0.913         2.113          0.583          0              0              0
  53  Cabinet         -0.913         2.113          2.082          0              0              0
  54  Cabinet         -0.913         2.113          1.207          0              0              0
  55  Cabinet         1.500          2.113          2.082          0              0              0
  56  Cabinet         1.500          2.113          1.207          0              0              0
  57  Cabinet         1.500          1.810          2.691          0              0              0
  58  Cabinet         1.500          1.810          2.101          0              0              0
  59  Cabinet         -0.633         0.388          2.105          0              0              0
  60  Cabinet         -0.911         1.810          2.700          0              180            0
  61  Drawer          -0.783         0.774          0.915          0              180            0
  62  StoveBurner     -1.108         0.922          1.865          0              0              0
  63  CounterTop      -0.972         0.973          0.921          0              0              0
  64  Cabinet         1.219          0.388          0.631          0              0              0
  65  Sink            1.544          0.869          1.639          0              180            0
  66  StoveBurner     -0.832         0.922          1.865          0              0              0
  67  StoveBurner     -0.831         0.922          1.470          0              0              0
  68  Drawer          1.370          0.774          0.916          0              0              0
  69  Cabinet         -0.911         1.810          2.111          0              180            0
  70  Fridge          -1.001         0.0            0.119          0              0              0
  71  StoveKnob       -0.648         0.926          1.923          0              270            0
  72  StoveKnob       -0.648         0.926          1.363          0              270            0
  73  StoveKnob       -0.648         0.926          1.513          0              270            0
  74  StoveKnob       -0.648         0.926          1.763          0              270            0
  75  Toaster         -1.002         0.926          2.561          0              90             0
  76  GarbageCan      1.451          -0.029         2.912          0              0              0
  77  Microwave       1.632          1.480          1.645          0              270            0
  78  Window          0.224          1.601          3.509          90             0              0
  79  CoffeeMachine   1.692          0.926          2.453          0              270            0
  80  SinkBasin       1.461          0.833          1.369          0              180            0
  81  LightSwitch     0.451          1.412          -1.674         0              0              0
  82  Faucet          1.707          0.925          1.363          0              270            0
  83  NorthWall
  84  EastWall
  85  SouthWall
  86  WestWall

Plan:
STEP 1: walk forward, turn right, stop at counter space next to sink | STEP 2: pick up knife in front of lettuce | STEP 3: move knife closer to lettuce | STEP 4: slice right half of the lettuce into strips  | STEP 5: move half of lettuce not sliced slightly to the left | STEP 6: place knife in sink | STEP 7: turn to the right, then left back to sink | STEP 8: pick up a slice of lettuce | STEP 9: turn right, then turn to the left and stand in front of fridge | STEP 10: open fridge, place lettuce slice on second shelf of fridge, close fridge, wait then open fridge and take out the lettuce slice and close fridge | STEP 11: turn to the right, walk forward, turn to the right and walk up to the sink | STEP 12: place lettuce slice in sink | END