Task: Put a piece of chilled lettuce on the floor in front of the kitchen window.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.75          0.900          -0.5           0              0              0
   1  Pan             1.691          0.929          -0.335         0              0              0              53
   2  Potato          -0.211         0.947          1.094          0              0              0              45
   3  ButterKnife     -2.621         0.910          1.530          0              0              0              73
   4  ButterKnife     -2.289         0.910          0.031          0              0              0              73
   5  Kettle          1.412          0.929          -0.335         0              0              0              46
   6  Spoon           -2.372         0.912          0.631          0              0              0              73
   7  Egg             1.318          0.949          -1.204         0              225            0              59
   8  Egg             1.531          0.949          -1.201         0              225            0              59
   9  Plate           -0.471         0.913          1.094          0              0              0              45
  10  Knife           -2.318         0.798          0.022          0              270            0              63
  11  Knife           -2.257         0.799          -0.073         0              90             0              63
  12  Tomato          1.388          0.960          -1.274         0              225            0              59
  13  SoapBottle      1.426          0.922          -1.096         0              135            0              59
  14  SoapBottle      -2.538         0.912          0.031          0              0              0              73
  15  Bowl            -2.372         0.908          1.230          0              0              0              73
  16  Bowl            -2.605         1.935          -0.578         0              0              0              67
  17  PepperShaker    -0.211         0.905          1.317          0              0              0              45
  18  PepperShaker    1.697          1.651          0.018          0              0              0              64
  19  Mug             0.683          0.905          -1.710         0              0              0              55
  20  Mug             -2.621         0.905          1.230          0              0              0              73
  21  Apple           0.997          0.972          -1.119         0              45             0              59
  22  Pan             -2.466         0.594          -0.783         0              180            0              77
  23  Knife           -2.196         0.798          0.952          0              270            0              50
  24  Apple           -2.538         0.972          0.931          0              0              0              73
  25  Bowl            -2.605         1.534          -0.019         0              0              0              68
  26  Fork            1.598          0.911          0.494          0              0              0              54
  27  Bread           -2.485         1.175          -0.885         0              90             0              77
  28  Plate           -0.081         0.913          1.764          0              0              0              45
  29  Egg             -2.613         0.209          -0.459         0              90             0              77
  30  Kettle          -2.289         0.911          0.931          0              0              0              73
  31  Potato          -2.439         1.336          -0.696         0              90             0              77
  32  SaltShaker      -0.730         0.905          1.094          0              0              0              45
  33  Lettuce         -0.081         0.994          0.647          0              0              0              45
  34  Cup             -2.485         1.087          -0.602         0              90             0              77
  35  SoapBottle      -0.341         0.912          1.764          0              0              0              45
  36  Spatula         -2.318         0.789          1.322          0              90             0              76
  37  PaperTowelRoll  1.646          0.289          0.651          0              0              0              84
  38  ButterKnife     1.769          0.911          0.465          0              0              0              54
  39  PepperShaker    -2.349         0.109          0.489          0              0              0              70
  40  DishSponge      -2.318         0.772          0.486          0              0              0              62
  41  Pot             -2.311         0.105          0.895          0              270            0              71
  42  Spoon           1.275          0.919          -1.107         0              225            0              59
  43  Tomato          -2.393         1.342          -0.885         0              90             0              77
  44  Mug             0.464          0.955          -1.593         0              0              0              55
  45  CounterTop      -0.360         0.946          1.093          0              0              0
  46  StoveBurner     1.412          0.923          -0.335         0              0              0
  47  StoveKnob       1.878          1.093          0.018          287.989        90             0
  48  StoveKnob       1.878          1.093          -0.306         287.989        90             0
  49  Cabinet         -2.446         1.948          2.924          0              0              0
  50  Drawer          -2.276         0.792          0.902          0              0              0
  51  Cabinet         -2.145         0.402          1.578          0              0              0
  52  Cabinet         0.149          2.008          -1.603         0              90             0
  53  StoveBurner     1.691          0.923          -0.335         0              0              0
  54  CounterTop      1.585          0.946          0.405          0              0              0
  55  CounterTop      0.474          0.946          -1.625         0              0              0
  56  StoveBurner     1.691          0.923          0.064          0              0              0
  57  Cabinet         -2.446         1.948          1.687          0              0              0
  58  Cabinet         -2.446         1.948          1.640          0              0              0
  59  Sink            1.381          0.810          -1.271         0              225            0
  60  StoveKnob       1.878          1.093          0.150          287.989        90             0
  61  Cabinet         -2.145         0.402          -0.236         0              0              0
  62  Drawer          -2.276         0.792          0.437          0              0              0
  63  Drawer          -2.276         0.792          -0.027         0              0              0
  64  Cabinet         1.572          2.008          0.474          0              0              0
  65  Cabinet         1.572          2.008          -0.775         0              0              0
  66  Cabinet         -2.445         2.148          -1.275         0              0              0
  67  Cabinet         -2.446         2.148          -0.284         0              0              0
  68  Cabinet         -2.446         1.948          0.355          0              0              0
  69  Cabinet         -2.446         1.948          0.405          0              0              0
  70  Cabinet         -2.145         0.402          0.644          0              0              0
  71  Cabinet         -2.145         0.402          0.695          0              0              0
  72  Cabinet         -2.285         1.968          -1.325         0              180            0
  73  CounterTop      -1.485         0.946          1.319          0              0              0
  74  StoveBurner     1.411          0.923          0.064          0              0              0
  75  StoveKnob       1.878          1.093          -0.441         287.989        90             0
  76  Drawer          -2.276         0.792          1.368          0              0              0
  77  Fridge          -2.475         0.0            -0.782         0              90             0
  78  LightSwitch     -0.929         1.350          -1.950         0              0              0
  79  Toaster         -2.564         0.900          1.876          0              90             0
  80  CoffeeMachine   0.464          0.900          -1.810         0              0              0
  81  Window          1.508          1.534          -1.496         90             135            0
  82  Window          1.973          1.521          1.121          90             90             0
  83  SinkBasin       1.149          0.753          -1.380         0              225            0
  84  GarbageCan      1.646          -0.000         0.679          0              0              0
  85  Microwave       -2.580         0.900          2.440          0              90             0
  86  Stool           0.439          0.010          0.747          0              0              0
  87  Stool           -2.303         0.010          1.839          0              0              0
  88  Faucet          1.235          1.138          -1.473         0              225            0
  89  NorthWall
  90  EastWall
  91  SouthWall
  92  WestWall

Plan:
STEP 1: Turn right, move forward past the island, turn left, move forward to the counter between the stove and bin, turn right. | STEP 2: Move forward to the counter, pick up the knife. | STEP 3: Turn around, move forward to the island. | STEP 4: Slice the head of lettuce on the island. | STEP 5: Turn left, move forward to the counter, turn right, move forward to the fridge. | STEP 6: Open the fridge doors, put the knife in the freezer, close the fridge doors. | STEP 7: Turn right, move forward to the edge of the fridge, turn right, move forward to just past the island, turn left and move forward to alongside the island, turn left. | STEP 8: Pick up a slice of lettuce. | STEP 9: Turn left, move forward to the counter, turn right, move forward to the fridge. | STEP 10: Open the fridge, put the slice of lettuce on the top shelf of the fridge, close the fridge doors, wait 7 seconds, open the fridge, pick up the lettuce, close the fridge. | STEP 11: Turn right, move forward to the edge of the fridge, turn right, move forward to just past the island, turn left and move forward to alongside the island, turn right. | STEP 12: Drop the lettuce. | END