Task: Chill a piece of diced lettuce, put it back on the counter in front of a tomato.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.75          0.900          0.75           0              180            0
   1  Kettle          1.688          0.912          1.468          0              0              0              79
   2  ButterKnife     2.221          0.911          1.129          0              0              0              79
   3  ButterKnife     1.688          0.911          1.299          0              0              0              79
   4  Pot             2.488          0.915          1.468          0              0              0              79
   5  Spoon           0.888          0.900          -0.515         0              0              0              44
   6  Spoon           0.123          0.766          -0.541         0              270            0              101
   7  Fork            -0.785         0.821          -1.473         0              0              0              103
   8  Cup             2.962          1.016          -0.578         0              0              0              99
   9  Cup             2.838          1.016          -0.578         0              0              0              99
  10  Knife           1.422          0.944          1.299          0              0              0              79
  11  SoapBottle      -0.198         0.917          1.468          0              0              0              55
  12  Tomato          -0.246         0.942          1.129          0              0              0              55
  13  Tomato          1.688          0.942          1.044          0              0              0              79
  14  Bowl            2.900          1.561          -0.644         0              0              0              99
  15  Bowl            -0.151         0.909          1.299          0              0              0              55
  16  SaltShaker      -0.682         0.817          -1.400         0              0              0              103
  17  Lettuce         1.955          0.992          1.468          0              0              0              79
  18  Mug             -0.157         0.760          -0.596         0              180            0              101
  19  Mug             1.428          0.968          -0.577         0              0              0              44
  20  Apple           -2.019         0.492          1.417          0              270            0              97
  21  SoapBottle      -0.785         0.826          -1.255         0              0              0              103
  22  Plate           1.422          0.914          1.129          0              0              0              79
  23  Fork            2.092          0.772          1.160          0              90             0              75
  24  Pot             0.634          0.915          -0.430         0              0              0              44
  25  Bread           1.038          0.953          -0.519         0              1.613          0              44
  26  Egg             -0.294         0.949          1.553          0              0              0              55
  27  Kettle          0.678          0.964          1.345          0              0              0              82
  28  Tomato          2.488          0.942          1.129          0              0              0              79
  29  Cup             -0.887         0.818          -1.400         0              0              0              103
  30  Spatula         1.155          0.926          1.299          0              0              0              79
  31  Apple           2.715          0.795          -0.473         0              0              0              99
  32  Pan             0.281          0.964          1.082          0              0              0              50
  33  Lettuce         2.221          0.992          1.468          0              0              0              79
  34  SaltShaker      0.251          0.908          -0.302         0              0              0              44
  35  Knife           2.754          0.944          1.214          0              0              0              79
  36  Potato          0.634          0.946          -0.854         0              0              0              44
  37  PepperShaker    -1.056         0.817          -1.257         0              90             0              103
  38  ButterKnife     1.902          0.911          -0.345         0              0              0              44
  39  Bowl            2.838          1.286          -0.644         0              0              0              99
  40  DishSponge      -1.991         0.423          1.290          0              270            0              97
  41  Spoon           -0.911         0.822          -1.360         0              90             0              103
  42  Mug             0.363          1.779          1.391          0              90             0              102
  43  Sink            0.050          0.902          -0.648         0              0              0
  44  CounterTop      1.358          0.947          -0.600         0              0              0
  45  Cabinet         2.986          2.009          1.304          0              0              0
  46  Cabinet         1.022          2.009          -0.607         0              180            0
  47  StoveBurner     0.678          0.923          1.082          0              0              0
  48  Cabinet         2.371          0.402          0.995          0              0              0
  49  Drawer          -0.125         0.792          0.995          0              0              0
  50  StoveBurner     0.281          0.923          1.082          0              0              0
  51  Cabinet         1.025          0.402          0.995          0              0              0
  52  Cabinet         1.023          0.402          -0.296         0              180            0
  53  Cabinet         0.974          2.259          1.304          0              0              0
  54  Cabinet         0.979          2.009          -0.607         0              180            0
  55  CounterTop      -0.158         0.947          1.299          0              0              0
  56  Cabinet         1.725          2.009          1.304          0              0              0
  57  Drawer          2.205          0.792          -0.294         0              180            0
  58  Drawer          1.869          0.792          -0.294         0              180            0
  59  StoveBurner     0.281          0.923          1.347          0              0              0
  60  Drawer          2.512          0.792          0.995          0              0              0
  61  Cabinet         1.673          0.402          -0.296         0              180            0
  62  Drawer          1.524          0.792          0.995          0              0              0
  63  Drawer          1.174          0.792          -0.294         0              180            0
  64  Cabinet         1.720          0.402          0.995          0              0              0
  65  Cabinet         2.348          2.009          -0.607         0              180            0
  66  Cabinet         1.676          2.009          -0.607         0              180            0
  67  Cabinet         1.673          2.009          1.304          0              0              0
  68  Cabinet         2.326          2.009          1.304          0              0              0
  69  Cabinet         2.370          2.009          1.304          0              0              0
  70  Cabinet         0.021          2.009          1.304          0              0              0
  71  Cabinet         1.025          2.009          1.304          0              0              0
  72  Cabinet         -0.274         0.402          0.995          0              0              0
  73  Cabinet         1.675          0.402          0.995          0              0              0
  74  Drawer          1.524          0.792          -0.294         0              180            0
  75  Drawer          2.187          0.792          0.995          0              0              0
  76  Cabinet         2.977          0.402          0.995          0              0              0
  77  Drawer          1.862          0.792          0.995          0              0              0
  78  Cabinet         0.072          2.259          1.304          0              0              0
  79  CounterTop      1.917          0.947          1.299          0              0              0
  80  Cabinet         2.328          0.402          0.995          0              0              0
  81  Cabinet         1.723          2.009          -0.607         0              180            0
  82  StoveBurner     0.677          0.923          1.345          0              0              0
  83  Cabinet         0.355          2.009          -0.607         0              180            0
  84  Cabinet         0.332          2.009          -0.607         0              180            0
  85  Cabinet         2.349          0.402          -0.296         0              180            0
  86  Cabinet         -0.284         2.009          -0.607         0              180            0
  87  Faucet          0.061          0.906          -0.903         0              0              0
  88  Drawer          2.837          0.792          0.995          0              0              0
  89  Drawer          1.175          0.792          0.995          0              0              0
  90  Cabinet         1.723          0.402          -0.296         0              180            0
  91  StoveKnob       0.588          1.093          1.557          287.970        0              0
  92  StoveKnob       0.188          1.093          1.557          287.970        0              0
  93  StoveKnob       0.749          1.093          1.557          287.970        0              0
  94  StoveKnob       0.338          1.093          1.557          287.970        0              0
  95  Toaster         1.934          0.900          -0.717         0              0              0
  96  LightSwitch     -1.662         1.427          1.649          0              180            0
  97  GarbageCan      -1.965         -0.029         1.358          0              270            0
  98  CoffeeMachine   1.542          0.900          -0.751         0              0              0
  99  Fridge          3.043          0.0            -0.709         0              0              0
 100  Window          -2.183         1.501          -0.014         90             270            0
 101  SinkBasin       0.043          0.755          -0.651         0              0              0
 102  Microwave       0.531          1.675          1.437          0              180            0
 103  DiningTable     -0.836         8.404          -1.258         0              0              0
 104  Chair           -1.611         0.002          -1.185         0              45             0
 105  NorthWall
 106  EastWall
 107  SouthWall
 108  WestWall

Plan:
STEP 1: Turn left and walk toward the end of the counter, then turn left to face it. | STEP 2: Pick up the knife from the counter. | STEP 3: Look up and face the piece of lettuce by the pot. | STEP 4: Dice up the lettuce with the knife. | STEP 5: Turn around, walk one step forward then turn back around to face the counter. | STEP 6: Put the knife down on the counter in the same spot it was before. | STEP 7: Walk one step forward to the counter. | STEP 8: Pick up the closest piece of diced lettuce. | STEP 9: Turn left, walk two steps forward then turn right and to face the black refrigerator. | STEP 10: Open the fridge, put the lettuce inside and close. The open the fridge, take the slice out and close it. | STEP 11: Turn right, walk two steps forward and turn right to face the counter. | STEP 12: Put the lettuce slice so it is resting on the front of the tomato. | END