Task: Put a chilled plate with lettuce on it onto 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           -1.5           0.900          -1.0           0              90             0
   1  Pan             -0.334         1.284          -0.529         0              180            0              69
   2  Potato          -0.334         1.318          -0.878         0              270            0              69
   3  Pot             -0.222         0.961          -1.845         0              180            0              41
   4  Fork            -3.882         0.691          -0.308         0              270            0              74
   5  Spoon           -0.315         0.942          -1.450         0              0              0              57
   6  Knife           -4.062         0.716          -0.187         0              180            0              74
   7  SoapBottle      -0.394         0.939          -1.538         0              0              0              57
   8  SoapBottle      -4.242         0.689          -0.430         0              0              0              74
   9  Tomato          -0.321         0.993          -2.729         0              0              0              39
  10  Bowl            -0.175         1.936          -1.055         0              0              0              47
  11  Bowl            -0.359         1.487          -0.646         0              270            0              69
  12  Bread           -3.350         0.841          -3.480         0              109.125        0              75
  13  Lettuce         -0.233         1.033          -2.905         0              45             0              39
  14  Lettuce         -4.091         0.851          -3.410         0              244.125        0              75
  15  PepperShaker    -3.942         0.687          -0.430         0              0              0              74
  16  Apple           -4.062         0.752          -0.430         0              0              0              74
  17  Apple           -0.321         1.550          -0.878         0              270            0              69
  18  SoapBottle      -2.354         0.097          -3.538         0              0              0              64
  19  Pot             -1.471         0.943          -3.517         0              0              0              39
  20  Fork            -4.182         0.691          -0.430         0              180            0              74
  21  Cup             -0.509         0.081          -2.624         0              0              0              52
  22  Tomato          -0.283         1.539          -0.297         0              270            0              69
  23  Pan             -0.222         0.961          -2.243         0              0              0              58
  24  Plate           -0.490         0.827          -3.260         0              315            0              68
  25  Bread           -3.839         0.841          -3.570         0              199.125        0              75
  26  Spatula         -3.391         0.775          -3.598         0              199.125        0              75
  27  Knife           -0.543         0.777          -2.792         0              90             0              44
  28  SaltShaker      -0.071         0.938          -2.950         0              45             0              39
  29  PepperShaker    -3.882         0.687          -0.491         0              0              0              74
  30  ButterKnife     -3.671         0.760          -3.465         0              199.125        0              75
  31  Apple           -2.452         0.161          -3.604         0              0              0              64
  32  DishSponge      -1.694         0.941          -3.908         0              0              0              39
  33  Potato          -0.963         0.974          -3.702         0              45             0              39
  34  Egg             -4.242         0.731          -0.309         0              0              0              74
  35  Spoon           -4.064         0.761          -3.466         0              244.125        0              75
  36  Lettuce         -4.122         0.782          -0.248         0              0              0              74
  37  Mug             -2.514         0.972          -3.649         0              0              0              65
  38  Bowl            -1.471         0.940          -3.829         0              0              0              39
  39  CounterTop      -1.937         0.977          -3.673         0              0              0
  40  StoveBurner     -0.437         0.924          -1.845         0              180            0
  41  StoveBurner     -0.222         0.924          -1.845         0              180            0
  42  StoveBurner     -0.437         0.924          -2.243         0              0              0
  43  Drawer          -0.500         0.779          -1.450         0              0              0
  44  Drawer          -0.481         0.777          -2.739         0              0              0
  45  Drawer          -1.154         0.782          -3.499         0              0              0
  46  Cabinet         -0.337         2.110          -0.390         0              0              0
  47  Cabinet         -0.337         2.110          -1.272         0              0              0
  48  Cabinet         -0.337         2.110          -1.631         0              0              0
  49  Cabinet         -0.337         2.110          -2.497         0              0              0
  50  Cabinet         -0.337         1.891          -1.286         0              0              0
  51  Cabinet         -0.346         1.891          -3.293         0              0              0
  52  Cabinet         -0.629         0.388          -2.513         0              0              0
  53  Cabinet         -0.633         0.388          -3.008         0              0              0
  54  Cabinet         -1.010         0.388          -3.368         0              0              0
  55  Cabinet         -0.629         0.388          -1.614         0              0              0
  56  Cabinet         -0.327         1.886          -2.513         0              0              0
  57  CounterTop      -0.326         0.976          -1.450         0              0              0
  58  StoveBurner     -0.222         0.924          -2.243         0              0              0
  59  Sink            -0.600         0.929          -3.388         0              0              0
  60  StoveKnob       -0.617         0.899          -1.833         315            90             180
  61  StoveKnob       -0.617         0.899          -2.129         315            90             180
  62  StoveKnob       -0.617         0.899          -2.289         315            90             180
  63  StoveKnob       -0.617         0.899          -1.975         315            90             180
  64  GarbageCan      -2.418         -0.032         -3.541         0              0              0
  65  CoffeeMachine   -2.513         0.930          -3.797         0              0              0
  66  Window          -1.389         1.610          -4.113         90             0              0
  67  LightSwitch     -4.372         1.493          -1.031         0              90             0
  68  SinkBasin       -0.614         0.802          -3.384         0              315            0
  69  Fridge          -0.314         0.0            -0.646         0              0              0
  70  Toaster         -1.970         0.930          -3.763         0              0              0
  71  Microwave       -0.216         1.470          -2.054         0              270            0
  72  Blinds          -1.373         2.205          -3.961         0              0              0
  73  Faucet          -0.393         0.930          -3.614         270            225            0
  74  SideTable       -4.030         0.002          -0.301         0              185.034        0
  75  DiningTable     -3.586         0.000          -3.258         0              0              0
  76  DiningTable     -3.224         -0.003         -0.453         0              0              0
  77  Shelf           -4.030         0.259          -0.301         0              185.034        0
  78  Shelf           -4.030         0.489          -0.301         0              185.034        0
  79  EastWall
  80  EastWall
  81  SouthWall

Plan:
STEP 1: Walk across the room to the table. | STEP 2: Pick up the butter knife on the table. | STEP 3: Slice the lettuce into pieces. | STEP 4: Walk to the trash bin under the coffee maker. | STEP 5: Throw the butter knife in the trash bin. | STEP 6: Walk back over to the table. | STEP 7: Pick up a slice of lettuce. | STEP 8: Walk across the room to the fridge. | STEP 9: Put the lettuce on the cold plate inside the fridge. | STEP 10: Take the cold plate with lettuce on it out of the fridge. | STEP 11: Take the cold plate with lettuce on it across the room to the table. | STEP 12: Set the cold plate with lettuce down on the table. | END