Task: slice a lettuce put it inside a pan into 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           1.0            0.900          2.0            0              270            0
   1  Pan             0.408          0.930          0.534          0              90             0              78
   2  Ladle           -1.000         0.957          -2.151         0              0              0              61
   3  ButterKnife     0.921          0.913          -2.169         0              0              0              61
   4  ButterKnife     1.828          0.913          -1.680         0              0              0              61
   5  Spatula         1.828          0.928          -1.446         0              180            0              61
   6  Spoon           1.738          0.914          -1.329         0              0              0              61
   7  Egg             -0.064         0.818          -1.936         0              0              0              73
   8  Egg             -0.160         0.984          0.762          0              0              0              78
   9  Cup             0.457          0.913          -2.252         0              0              0              61
  10  Plate           -0.668         0.916          -2.200         0              0              0              61
  11  Plate           0.180          0.934          0.991          0              0              0              78
  12  Knife           -0.230         0.936          -1.762         0              0              0              61
  13  Knife           1.557          0.936          -1.329         0              90             0              61
  14  Tomato          1.466          0.965          -1.680         0              0              0              61
  15  Tomato          -1.648         1.556          -0.392         0              0              0              69
  16  Bowl            1.256          0.115          -1.914         0              0              0              53
  17  Bowl            1.913          1.654          -1.158         0              270            0              52
  18  Bread           -0.047         0.972          0.534          0              0              0              78
  19  Apple           0.180          0.997          1.220          0              0              0              78
  20  Potato          -0.047         0.959          0.762          0              0              0              78
  21  Bowl            1.670          0.549          2.482          0              0              0              81
  22  SoapBottle      1.462          0.551          2.534          0              0              0              81
  23  Fork            1.850          0.914          -1.834         0              0              0              61
  24  Ladle           0.408          0.971          0.991          0              0              0              78
  25  Bread           0.399          0.964          0.110          0              0              1.601          78
  26  Lettuce         -1.429         0.925          -0.542         0              315            0              69
  27  WineBottle      -0.160         0.927          0.991          0              0              0              78
  28  Spatula         2.009          0.928          -1.329         0              270            0              61
  29  Plate           1.690          0.123          -1.397         0              270            0              55
  30  SaltShaker      0.294          0.923          0.762          0              0              0              78
  31  Pot             0.294          0.928          1.448          0              0              0              78
  32  Cup             -1.323         0.859          -1.013         0              90             0              69
  33  PepperShaker    1.466          0.909          -1.563         0              0              0              61
  34  Pan             1.567          0.948          -0.757         0              0              0              43
  35  ButterKnife     -0.791         0.9            -2.186         0              164.999        0              61
  36  Tomato          -1.495         0.911          -1.013         0              90             0              69
  37  DishSponge      1.464          0.880          2.483          0              0              0              87
  38  Egg             1.738          0.967          -1.563         0              0              0              61
  39  Spoon           1.738          0.914          -1.212         0              0              0              61
  40  Knife           0.180          0.950          0.305          0              0              0              78
  41  Mug             -0.047         0.921          1.220          0              0              0              78
  42  StoveBurner     1.845          0.940          -0.355         0              0              0
  43  StoveBurner     1.567          0.940          -0.757         0              0              0
  44  Cabinet         -1.149         2.019          -1.979         0              90             0
  45  Cabinet         -1.149         2.265          -0.834         0              90             0
  46  Cabinet         -0.459         2.265          -2.0           0              0              0
  47  Cabinet         -1.100         2.019          -2.0           0              0              0
  48  Cabinet         1.719          2.019          -2.0           0              0              0
  49  Cabinet         1.179          2.019          -2.0           0              0              0
  50  Cabinet         0.199          2.019          -2.0           0              0              0
  51  Cabinet         1.75           2.019          -1.399         0              270            0
  52  Cabinet         1.75           2.019          -1.029         0              270            0
  53  Cabinet         1.379          0.469          -1.689         0              0              0
  54  Cabinet         -0.819         0.469          -1.689         0              0              0
  55  Cabinet         1.389          0.469          -1.059         0              270            0
  56  Cabinet         -0.839         0.469          -1.665         0              90             0
  57  StoveBurner     1.567          0.940          -0.355         0              0              0
  58  StoveBurner     1.845          0.940          -0.757         0              0              0
  59  Sink            -0.109         0.893          -2.009         0              0              0
  60  Drawer          -0.819         0.75           -1.690         0              0              0
  61  CounterTop      0.232          0.949          -2.002         0              0              0
  62  GarbageCan      1.855          -0.034         0.141          0              358.959        0
  63  Vase            0.251          0.546          0.475          0              270            0
  64  Toaster         0.780          0.900          -2.080         0              0              0
  65  LightSwitch     0.108          1.315          2.75           0              180            0
  66  Vase            0.400          0.925          0.218          0              180            0
  67  Microwave       -1.233         0.900          -1.680         0              90             0
  68  Vase            1.465          1.662          -2.200         0              0              0
  69  Fridge          -1.495         0.0            -0.703         0              0              0
  70  Window          2.114          1.495          1.072          90             270            0
  71  CoffeeMachine   1.374          0.899          -2.112         0              0              0
  72  Vase            0.333          0.546          1.272          0              270            0
  73  SinkBasin       -0.148         0.753          -2.026         0              0              0
  74  StoveKnob       2.037          1.089          -0.405         0              0              74.477
  75  StoveKnob       2.037          1.089          -0.251         0              0              74.477
  76  StoveKnob       2.037          1.089          -0.649         0              0              74.477
  77  StoveKnob       2.037          1.089          -0.814         0              0              74.477
  78  DiningTable     0.170          0.005          0.678          0              270            0
  79  Shelf           0.170          0.155          0.678          0              270            0
  80  Shelf           1.605          0.172          2.480          0              0              0
  81  Shelf           1.605          0.552          2.480          0              0              0
  82  Shelf           1.604          0.880          2.479          0              0              0
  83  ShelvingUnit    1.605          0.006          2.480          0              0              0
  84  Faucet          -0.143         1.028          -2.223         0              270            0
  85  Stool           -0.553         0.000          0.871          1.233          280.376        0
  86  Shelf           0.170          0.528          0.678          0              270            0
  87
  88  NorthWall
  89  EastWall
  90  SouthWall
  91  WestWall

Plan:
STEP 1: turn to the left and across the room | STEP 2: pick up the knife from the counter  | STEP 3: turn to the left open the refrigerator  | STEP 4: slice the lettuce that is inside of the refrigerator close the refrigerator | STEP 5: turn to the right and across the room | STEP 6: put the knife inside of the pan on the stove | STEP 7: turn to the right open the refrigerator | STEP 8: get a slice of the lettuce  | STEP 9: turn to the right | STEP 10: put the slice of lettuce in the pan | STEP 11: pick up the pan with the lettuce and knife in it | STEP 12: turn to the right and across the room | STEP 13: open the refrigerator put the pan inside of the refrigerator close the refrigerator | END