Task: Put a chilled slice of lettuce on the counter.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.25          0.900          0.25           0              90             0
   1  Cup             2.777          0.724          -0.473         0              0              0              88
   2  Cup             2.962          1.561          -0.840         0              0              0              88
   3  Knife           1.422          0.944          1.214          0              90             0              68
   4  SoapBottle      -0.197         0.120          1.117          0              0              0              61
   5  SoapBottle      1.450          1.660          1.470          0              0              0              56
   6  Tomato          -0.990         0.852          -1.328         0              0              0              92
   7  Bowl            2.754          0.909          1.468          0              0              0              68
   8  Bread           2.777          1.621          -0.644         0              0              0              88
   9  Apple           1.422          0.980          1.468          0              0              0              68
  10  SoapBottle      1.792          0.120          1.236          0              0              0              53
  11  Plate           0.337          2.159          1.467          0              0              0              67
  12  Fork            -0.766         0.821          -1.257         0              90             0              92
  13  Pot             0.678          0.964          1.345          0              0              0              71
  14  Bread           2.221          0.969          1.214          0              0              0              68
  15  Egg             -0.694         0.858          -1.155         0              90             0              92
  16  Kettle          0.710          0.9            -0.772         0              0              0              33
  17  Tomato          -2.048         0.455          1.290          0              270            0              86
  18  Cup             1.597          1.652          1.394          0              0              0              45
  19  Spatula         -0.621         0.835          -1.308         0              90             0              92
  20  Apple           2.900          0.794          -0.535         0              0              0              88
  21  Pan             -0.198         0.911          1.383          0              0              0              44
  22  Lettuce         2.156          0.992          -0.430         0              0              0              33
  23  SaltShaker      -0.785         0.817          -1.400         0              0              0              92
  24  Knife           2.488          0.944          1.468          0              0              0              68
  25  Potato          2.754          0.946          1.044          0              0              0              68
  26  PepperShaker    1.522          0.111          -0.538         0              180            0              50
  27  ButterKnife     -0.017         0.765          -0.651         0              0              0              90
  28  Bowl            2.900          1.017          -0.644         0              0              0              88
  29  DishSponge      -1.991         0.423          1.417          0              270            0              86
  30  Spoon           0.193          0.766          -0.541         0              270            0              90
  31  Mug             0.518          1.779          1.423          0              180            0              91
  32  Sink            0.050          0.902          -0.648         0              0              0
  33  CounterTop      1.358          0.947          -0.600         0              0              0
  34  Cabinet         2.986          2.009          1.304          0              0              0
  35  Cabinet         1.022          2.009          -0.607         0              180            0
  36  StoveBurner     0.678          0.923          1.082          0              0              0
  37  Cabinet         2.371          0.402          0.995          0              0              0
  38  Drawer          -0.125         0.792          0.995          0              0              0
  39  StoveBurner     0.281          0.923          1.082          0              0              0
  40  Cabinet         1.025          0.402          0.995          0              0              0
  41  Cabinet         1.023          0.402          -0.296         0              180            0
  42  Cabinet         0.974          2.259          1.304          0              0              0
  43  Cabinet         0.979          2.009          -0.607         0              180            0
  44  CounterTop      -0.158         0.947          1.299          0              0              0
  45  Cabinet         1.725          2.009          1.304          0              0              0
  46  Drawer          2.205          0.792          -0.294         0              180            0
  47  Drawer          1.869          0.792          -0.294         0              180            0
  48  StoveBurner     0.281          0.923          1.347          0              0              0
  49  Drawer          2.512          0.792          0.995          0              0              0
  50  Cabinet         1.673          0.402          -0.296         0              180            0
  51  Drawer          1.524          0.792          0.995          0              0              0
  52  Drawer          1.174          0.792          -0.294         0              180            0
  53  Cabinet         1.720          0.402          0.995          0              0              0
  54  Cabinet         2.348          2.009          -0.607         0              180            0
  55  Cabinet         1.676          2.009          -0.607         0              180            0
  56  Cabinet         1.673          2.009          1.304          0              0              0
  57  Cabinet         2.326          2.009          1.304          0              0              0
  58  Cabinet         2.370          2.009          1.304          0              0              0
  59  Cabinet         0.021          2.009          1.304          0              0              0
  60  Cabinet         1.025          2.009          1.304          0              0              0
  61  Cabinet         -0.274         0.402          0.995          0              0              0
  62  Cabinet         1.675          0.402          0.995          0              0              0
  63  Drawer          1.524          0.792          -0.294         0              180            0
  64  Drawer          2.187          0.792          0.995          0              0              0
  65  Cabinet         2.977          0.402          0.995          0              0              0
  66  Drawer          1.862          0.792          0.995          0              0              0
  67  Cabinet         0.072          2.259          1.304          0              0              0
  68  CounterTop      1.917          0.947          1.299          0              0              0
  69  Cabinet         2.328          0.402          0.995          0              0              0
  70  Cabinet         1.723          2.009          -0.607         0              180            0
  71  StoveBurner     0.677          0.923          1.345          0              0              0
  72  Cabinet         0.355          2.009          -0.607         0              180            0
  73  Cabinet         0.332          2.009          -0.607         0              180            0
  74  Cabinet         2.349          0.402          -0.296         0              180            0
  75  Cabinet         -0.284         2.009          -0.607         0              180            0
  76  Faucet          0.061          0.906          -0.903         0              0              0
  77  Drawer          2.837          0.792          0.995          0              0              0
  78  Drawer          1.175          0.792          0.995          0              0              0
  79  Cabinet         1.723          0.402          -0.296         0              180            0
  80  StoveKnob       0.588          1.093          1.557          287.970        0              0
  81  StoveKnob       0.188          1.093          1.557          287.970        0              0
  82  StoveKnob       0.749          1.093          1.557          287.970        0              0
  83  StoveKnob       0.338          1.093          1.557          287.970        0              0
  84  Toaster         1.934          0.900          -0.717         0              0              0
  85  LightSwitch     -1.662         1.427          1.649          0              180            0
  86  GarbageCan      -1.965         -0.029         1.358          0              270            0
  87  CoffeeMachine   1.542          0.900          -0.751         0              0              0
  88  Fridge          3.043          0.0            -0.709         0              0              0
  89  Window          -2.183         1.501          -0.014         90             270            0
  90  SinkBasin       0.043          0.755          -0.651         0              0              0
  91  Microwave       0.531          1.675          1.437          0              180            0
  92  DiningTable     -0.836         8.404          -1.258         0              0              0
  93  Chair           -1.611         0.002          -1.185         0              45             0
  94  NorthWall
  95  EastWall
  96  SouthWall
  97  WestWall

Plan:
STEP 1: Go to the sink on the right. | STEP 2: Pick up the knife in the sink. | STEP 3: Turn right and go to the counter with the toaster on it. | STEP 4: Cut the lettuce on the counter. | STEP 5: Turn around to the counter with the bread on it. | STEP 6: Put the knife on the counter in front of the bread. | STEP 7: Turn back around to the counter. | STEP 8: Pick up a slice of lettuce. | STEP 9: Turn left and go to the fridge. | STEP 10: Put the slice of lettuce in the fridge, close the fridge and then pick the lettuce back up. | STEP 11: Go back to the counter with the bread on it. | STEP 12: Put the slice of lettuce on the counter to the right of the knife. | END