Task: put a  chilled slice of lettuce to the left of the fork on the table

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           0.901          -0.25          0              90             0
   1  Potato          2.304          0.977          2.260          0              180            0              53
   2  Potato          2.132          0.378          -0.188         0              270            0              74
   3  WineBottle      2.002          0.083          1.986          0              0              0              49
   4  DishSponge      1.887          0.081          2.199          0              0              0              49
   5  ButterKnife     2.227          0.937          1.964          0              0              0              53
   6  ButterKnife     -0.042         0.791          0.881          0              90             0              80
   7  Pot             2.168          1.321          -0.278         0              0              0              74
   8  Spoon           1.815          0.746          1.991          0              90             0              68
   9  Spoon           -0.042         0.792          0.545          0              0              0              80
  10  Fork            -0.196         0.791          0.545          0              270            0              80
  11  Cup             -0.042         0.789          1.217          0              0              0              80
  12  Plate           2.206          1.505          2.425          0              0              0              46
  13  Knife           1.976          0.772          0.721          0              270            0              62
  14  Tomato          0.033          0.837          0.713          0              0              0              80
  15  SaltShaker      -0.425         0.932          2.425          0              0              0              53
  16  PepperShaker    2.074          0.932          2.063          0              0              0              53
  17  Lettuce         -0.349         0.852          1.217          0              0              0              80
  18  Mug             -0.362         1.030          2.014          0              90             0              78
  19  Mug             2.064          0.989          2.462          0              225            0              79
  20  Apple           2.250          0.652          -0.007         0              270            0              74
  21  Apple           -0.272         0.840          1.386          0              0              0              80
  22  Egg             2.127          1.561          -0.550         0              270            0              74
  23  Lettuce         -0.042         0.852          1.049          0              90             0              80
  24  Fork            2.011          0.747          0.446          0              90             0              62
  25  SoapBottle      -0.349         0.791          0.881          0              270            0              80
  26  Ladle           -0.042         0.835          0.377          0              0              0              80
  27  Ladle           1.989          0.791          1.922          0              90             0              68
  28  Bread           -0.200         0.824          0.813          0              0              0              80
  29  SaltShaker      1.840          0.933          0.361          0              0              0              64
  30  Potato          2.179          1.559          -0.460         0              270            0              74
  31  Pan             1.866          0.935          1.504          0              180            0              57
  32  WineBottle      -0.263         0.038          -0.769         0              90             0              75
  33  Spatula         1.884          0.761          1.991          0              90             0              68
  34  Knife           -0.068         0.771          2.197          0              270            0              52
  35  Tomato          -0.195         0.983          2.451          0              0              0              53
  36  Apple           1.840          0.988          0.509          0              0              0              64
  37  ButterKnife     -0.349         0.781          0.712          354.258        0              0              80
  38  Pot             0.708          0.081          2.523          0              90             0              60
  39  PepperShaker    -0.424         0.782          0.713          0              0              2.680          80
  40  Cup             2.128          1.947          1.515          0              0              0              58
  41  DishSponge      2.280          1.503          0.388          0              0              0              51
  42  Plate           1.298          0.085          2.523          0              0              0              59
  43  Spoon           1.223          0.796          2.695          0              0              0              77
  44  Mug             0.033          0.785          0.881          0              0              0              80
  45  Bowl            -0.041         0.078          2.197          0              0              0              47
  46  Cabinet         2.041          2.113          2.618          0              0              0
  47  Cabinet         0.126          0.388          1.774          0              0              0
  48  StoveBurner     2.140          0.929          1.504          0              180            0
  49  Cabinet         1.760          0.388          2.346          0              0              0
  50  Cabinet         1.760          0.388          0.869          0              0              0
  51  Cabinet         2.041          1.810          0.283          0              0              0
  52  Drawer          -0.024         0.774          2.061          0              0              0
  53  CounterTop      1.065          0.973          2.666          0              0              0
  54  Cabinet         1.969          2.113          2.618          0              0              0
  55  StoveBurner     2.140          0.929          1.106          0              0              0
  56  Cabinet         2.041          2.113          1.809          0              0              0
  57  StoveBurner     1.866          0.929          1.504          0              180            0
  58  Cabinet         2.041          2.113          1.766          0              0              0
  59  Cabinet         1.514          0.388          2.360          0              0              0
  60  Cabinet         0.351          0.388          2.360          0              0              0
  61  Cabinet         2.041          1.810          0.872          0              0              0
  62  Drawer          2.167          0.774          0.582          0              0              0
  63  Cabinet         2.041          2.113          0.892          0              0              0
  64  CounterTop      2.060          0.973          0.583          0              0              0
  65  Sink            0.935          0.936          2.646          0              0              0
  66  Curtains        0.964          2.061          2.989          0              0              0
  67  StoveBurner     1.863          0.929          1.106          0              0              0
  68  Drawer          1.911          0.774          2.060          0              0              0
  69  StoveKnob       2.326          1.092          1.610          288.013        90             0
  70  StoveKnob       2.326          1.092          1.460          288.013        90             0
  71  StoveKnob       2.326          1.092          1.210          288.013        90             0
  72  StoveKnob       2.326          1.092          1.050          288.013        90             0
  73  Toaster         2.126          0.926          0.572          0              270            0
  74  Fridge          2.104          0.0            -0.279         0              270            0
  75  GarbageCan      -0.309         -0.001         -0.807         0              91.471         0
  76  LightSwitch     0.354          1.518          -1.031         0              0              0
  77  SinkBasin       0.903          0.784          2.640          0              0              0
  78  Microwave       -0.310         0.926          2.077          0              90             0
  79  CoffeeMachine   2.084          0.927          2.667          0              225            0
  80  DiningTable     -0.153         -0.000         1.073          0              270            0
  81  Faucet          1.175          0.926          2.950          270            90             0
  82  Faucet          0.686          0.926          2.950          270            90             0
  83  Chair           -0.077         0.002          0.196          0              15.000         0
  84  NorthWall
  85  EastWall
  86  SouthWall
  87  WestWall

Plan:
STEP 1:  turn  and  walk to the table | STEP 2: pick up the knife that is on the table | STEP 3: use the knife to cut the lettuce   | STEP 4:  throw the knife on the table | STEP 5: pick up a piece of lettuce  | STEP 6:  turn in walk to the refrigerator  | STEP 7: put the lettuce in the refrigerator  | STEP 8: wait 3 seconds  in front of the refrigerator | STEP 9:  take the slice of lettuce out of the refrigerator | STEP 10: walk back to the table | STEP 11: put the slice of lettuce on the table on the left side of the fork | END