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           -0.25          0.900          1.5            0              270            0
   1  Pan             1.543          0.909          -0.320         0              90             0              45
   2  Ladle           1.501          0.954          0.827          0              90             0              42
   3  Ladle           1.839          0.954          0.467          0              90             0              42
   4  DishSponge      1.842          2.136          0.805          0              0              0              50
   5  DishSponge      1.529          0.910          0.467          0              90             0              42
   6  Fork            0.476          0.911          0.739          0              180            0              42
   7  Spatula         1.245          0.925          1.092          0              270            0              42
   8  Egg             0.989          0.945          0.739          0              90             0              42
   9  Cup             1.770          1.631          -0.828         0              0              0              54
  10  Cup             1.726          0.909          -1.631         0              90             0              46
  11  Plate           1.757          0.912          1.092          0              90             0              42
  12  Knife           1.839          0.943          0.622          0              0              0              42
  13  SoapBottle      1.775          2.134          1.236          0              0              0              49
  14  Tomato          -0.790         1.155          -1.524         0              0              0              69
  15  SaltShaker      1.529          0.905          0.622          0              90             0              42
  16  Bread           -0.692         0.537          -1.412         0              0              0              69
  17  Mug             -0.741         1.086          -1.664         0              0              0              69
  18  Mug             0.502          0.940          -1.460         0              0              0              68
  19  Apple           -0.644         0.803          -1.629         0              0              0              69
  20  Plate           1.586          0.912          -1.374         0              90             0              46
  21  SoapBottle      1.877          1.633          -1.338         0              0              0              55
  22  Cup             -0.741         1.681          -1.629         0              0              0              69
  23  Egg             0.963          0.795          -1.654         0              0              0              61
  24  Fork            1.205          0.752          -1.725         0              0              0              61
  25  Ladle           1.806          1.699          -0.002         0              0              0              52
  26  Apple           1.709          0.127          1.731          0              270            0              60
  27  SaltShaker      1.734          1.630          -1.501         0              0              0              55
  28  Pan             1.807          0.909          -0.320         0              180            0              44
  29  Tomato          1.865          0.975          -1.288         0              90             0              46
  30  Spatula         1.586          0.926          -1.717         0              180            0              46
  31  Potato          -0.374         1.104          -1.382         0              0              0              69
  32  Knife           1.451          0.943          0.415          0              90             0              42
  33  ButterKnife     0.476          0.910          1.092          0              90             0              42
  34  Bread           0.220          0.987          0.739          0              90             0              42
  35  Lettuce         0.856          0.989          1.119          0              270            2.382          42
  36  PepperShaker    1.726          0.906          -1.802         0              90             0              46
  37  Pot             1.548          0.909          0.075          0              180            0              48
  38  DishSponge      1.840          1.645          -1.806         0              0              0              56
  39  Spoon           0.894          0.761          -1.599         0              90             0              61
  40  Bowl            0.193          0.900          1.170          0              0              0              42
  41  Mug             1.734          1.640          -1.683         0              90             0              56
  42  CounterTop      0.989          0.946          1.016          0              90             0
  43  StoveBurner     1.807          0.907          0.075          0              180            0
  44  StoveBurner     1.807          0.907          -0.320         0              180            0
  45  StoveBurner     1.543          0.907          -0.320         0              90             0
  46  CounterTop      0.989          0.946          -1.516         0              90             0
  47  Sink            1.100          0.906          -1.599         0              0              0
  48  StoveBurner     1.548          0.907          0.075          0              180            0
  49  Cabinet         1.658          2.299          1.313          0              0              0
  50  Cabinet         1.658          2.299          0.686          0              0              0
  51  Cabinet         1.658          2.049          0.673          0              0              0
  52  Cabinet         1.658          2.059          0.193          0              0              0
  53  Cabinet         1.658          2.059          -0.593         0              0              0
  54  Cabinet         1.658          2.049          -0.606         0              0              0
  55  Cabinet         1.658          2.049          -1.206         0              0              0
  56  Cabinet         1.658          2.049          -1.893         0              0              0
  57  Toaster         0.131          0.900          -1.589         0              0              0
  58  Window          -0.372         1.588          3.349          90             0              0
  59  Window          0.782          1.741          -1.893         90             0              0
  60  GarbageCan      1.770          -0.029         1.685          0              270            0
  61  SinkBasin       1.091          0.740          -1.599         0              0              0
  62  StoveKnob       1.364          0.821          0.086          48.421         270            0
  63  StoveKnob       1.364          0.821          -0.180         48.421         270            0
  64  StoveKnob       1.364          0.821          -0.317         48.421         270            0
  65  StoveKnob       1.364          0.821          -0.054         48.421         270            0
  66  Microwave       1.752          0.900          -0.843         0              270            0
  67  LightSwitch     2.0            1.261          3.094          0              270            0
  68  CoffeeMachine   0.501          0.900          -1.600         0              0              0
  69  Fridge          -0.533         0.0            -1.554         0              0              0
  70  Chair           1.068          0.000          1.752          0              191.622        0
  71  Faucet          1.110          1.138          -1.764         0              270            0
  72  Chair           0.357          0.000          1.710          0              178.899        0
  73  NorthWall
  74  EastWall
  75  SouthWall
  76  WestWall

Plan:
STEP 1: Turn left, head toward the fridge, turn left and go to the stove. | STEP 2: 
Pick up the knife beside the spoon on the counter. | STEP 3: Turn around and turn to the right to face the counter with the egg. | STEP 4: Cut the lettuce on the counter. | STEP 5: Move right and back left to the counter. | STEP 6: Put the knife behind the egg on the counter. | STEP 7: Move the left and turn back right towards the counter. | STEP 8: Pick up a slice of lettuce. | STEP 9: Turn around and head to the fridge. | STEP 10: Put the lettuce on the second shelf of the fridge, close the fridge, open the fridge and pick it back up. | STEP 11: Turn left, go halfway across the room and turn right toward the coffee maker. | STEP 12: Put the slice of lettuce on the counter in front of the coffee maker. | END