Task: Slice a lettuce, cool a slice

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           0.900          1.0            0              270            0
   1  Vase            1.193          1.667          0.025          0              270            0              69
   2  Potato          -1.355         0.963          -0.118         0              0              0              61
   3  Potato          0.995          1.825          -1.339         0              270            0              83
   4  CreditCard      0.944          0.908          -1.879         0              0              0              67
   5  CreditCard      0.754          0.491          -0.565         0              270            0              65
   6  ButterKnife     -1.292         0.933          -0.380         0              0              0              61
   7  Glassbottle     1.126          2.208          -1.517         0              270            0              68
   8  Glassbottle     1.055          1.667          -2.029         0              270            0              60
   9  Fork            0.794          0.702          -0.690         0              180            0              59
  10  Spoon           0.834          0.496          -0.607         0              270            0              65
  11  Spatula         -0.920         0.948          -1.386         0              90             0              61
  12  Spatula         -0.624         0.948          -1.231         0              0              0              61
  13  Knife           0.859          0.934          -0.729         0              0              0              62
  14  Knife           -1.104         0.957          -1.167         0              90             0              61
  15  Egg             -1.054         0.214          0.641          0              180            0              81
  16  Egg             -1.041         0.971          -1.430         0              0              0              61
  17  Tomato          1.026          1.683          1.158          0              270            0              84
  18  Tomato          1.029          0.952          -1.793         0              0              0              67
  19  SoapBottle      -0.550         0.933          -1.154         0              0              0              61
  20  SoapBottle      1.199          0.911          -1.793         0              0              0              67
  21  SaltShaker      1.114          0.907          -0.208         0              0              0              62
  22  PepperShaker    -1.674         0.878          2.746          0              0              0              88
  23  PepperShaker    1.193          1.662          0.280          0              270            0              69
  24  Bread           0.966          1.482          1.349          0              270            0              84
  25  Apple           -0.808         0.830          -0.400         0              90             0              82
  26  Apple           0.995          1.845          -1.132         0              270            0              83
  27  Statue          -1.292         0.936          -0.643         0              0              0              61
  28  Glassbottle     0.688          0.912          -2.051         0              0              0              67
  29  Bread           -0.779         0.996          0.21           0              258.641        0              61
  30  CreditCard      -1.355         0.930          -1.167         0              0              0              61
  31  CellPhone       1.199          0.908          0.139          0              0              0              62
  32  Potato          1.026          1.165          1.063          0              270            0              84
  33  Knife           0.859          0.934          -0.207         0              180            0              62
  34  Fork            -1.290         0.921          -1.287         0              0              0              61
  35  Pan             0.848          0.946          -1.080         0              0              0              55
  36  Lettuce         0.859          0.988          0.139          0              0              0              62
  37  Plate           -1.355         0.936          -0.905         0              0              0              61
  38  Apple           -0.587         0.830          -0.400         0              90             0              82
  39  Pot             1.077          0.950          -1.504         0              0              0              57
  40  Spatula         0.915          0.510          -0.524         0              0              0              65
  41  PaperTowelRoll  -0.960         0.281          0.543          0              180            0              81
  42  Tomato          1.026          1.683          1.444          0              270            0              84
  43  Egg             0.844          0.900          1.254          0              270            0              84
  44  SaltShaker      -1.469         0.878          2.719          0              0              0              88
  45  PepperShaker    -1.881         0.550          2.667          0              0              0              87
  46  Vase            1.148          1.666          -0.337         0              270            0              70
  47  ButterKnife     1.114          0.911          -0.034         0              180            0              62
  48  SoapBottle      -0.550         0.933          0.239          0              0              0              61
  49  Vase            1.126          2.209          -1.191         0              270            0              68
  50  Bowl            1.199          0.914          -0.381         0              0              0              62
  51  DishSponge      0.773          0.910          -1.879         0              0              0              67
  52  Spoon           0.793          0.154          -0.611         0              270            0              64
  53  Cup             0.905          1.132          1.349          0              270            0              84
  54  Mug             0.903          0.942          -2.110         0              300.131        0              80
  55  StoveBurner     0.842          0.919          -1.098         0              0              0
  56  Cabinet         0.648          0.474          0.244          0              270            0
  57  StoveBurner     1.077          0.919          -1.504         0              0              0
  58  StoveBurner     0.842          0.919          -1.504         0              0              0
  59  Drawer          0.637          0.755          -0.649         0              270            0
  60  Cabinet         0.949          2.159          -2.375         0              270            0
  61  CounterTop      -1.238         0.968          -0.643         0              0              0
  62  CounterTop      0.931          0.946          -0.208         0              0              0
  63  StoveBurner     1.077          0.919          -1.098         0              0              0
  64  Drawer          0.637          0.268          -0.649         0              270            0
  65  Drawer          0.637          0.547          -0.649         0              270            0
  66  Cabinet         0.648          0.475          -1.714         0              0              0
  67  CounterTop      0.931          0.946          -2.051         0              0              0
  68  Cabinet         0.948          2.439          -1.780         0              270            0
  69  Cabinet         0.948          2.159          -0.140         0              270            0
  70  Cabinet         0.949          2.159          -0.758         0              270            0
  71  Sink            -0.699         0.927          -0.649         0              0              0
  72  LightSwitch     -2.371         1.218          3.049          0              180            0
  73  StoveKnob       0.673          0.899          -1.373         315            90             180
  74  StoveKnob       0.673          0.899          -1.519         315            90             180
  75  StoveKnob       0.673          0.899          -1.086         315            90             180
  76  StoveKnob       0.673          0.899          -1.237         315            90             180
  77  Toaster         0.984          0.900          0.329          0              270            0
  78  Window          0.014          0.998          -2.640         90             0              0
  79  Window          -2.996         0.998          -2.640         90             0              0
  80  CoffeeMachine   0.892          0.900          -2.132         0              300.130        0
  81  GarbageCan      -0.946         -0.036         0.575          0              180            0
  82  SinkBasin       -0.698         0.765          -0.647         0              90             0
  83  Microwave       1.042          1.680          -1.295         0              270            0
  84  Fridge          0.966          0.0            1.253          0              0              0
  85  HousePlant      -1.354         0.919          -1.540         0              0              0
  86  Shelf           -1.635         0.172          2.715          0              180            0
  87  Shelf           -1.635         0.552          2.715          0              180            0
  88  Shelf           -1.635         0.880          2.715          0              180            0
  89  ShelvingUnit    -1.635         0.006          2.715          0              180            0
  90  Chair           -1.832         0.002          -0.034         0              119.999        0
  91  Chair           -1.854         0.002          -0.956         0              67.887         0
  92  Faucet          -0.867         1.161          -0.651         0              0              0
  93  NorthWall
  94  EastWall
  95  SouthWall
  96  WestWall

Plan:
STEP 1: Turn around, go forward, turn right, go forward a bit, turn left to the counter | STEP 2: Pick up the knife on the counter | STEP 3: Move a bit to the left | STEP 4: Slice the lettuce on the counter | STEP 5: Move a bit to the right | STEP 6: Put the knife on the counter | STEP 7: Move a bit to the left | STEP 8: Pick up a lettuce slice from the counter | STEP 9: Turn left and go to the front of the fridge | STEP 10: Put the lettuce slice in the fridge, wait, pick up the lettuce slice from the fridge | STEP 11: Turn around, go forward a bit, turn left | STEP 12: Put the lettuce in the basket | END