Task: Put a slice of lettuce on the floor by 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           -1.5           0.900          -0.75          0              90             0
   1  DishSponge      -2.638         1.537          0.702          0              0              0              69
   2  DishSponge      -2.638         1.537          2.129          0              0              0              57
   3  ButterKnife     1.512          0.911          0.494          0              0              0              54
   4  Kettle          1.691          0.929          -0.335         0              0              0              53
   5  Kettle          -2.538         0.911          0.931          0              0              0              73
   6  Fork            -2.372         0.911          1.530          0              0              0              73
   7  Fork            -2.379         0.774          1.322          0              90             0              76
   8  Spoon           1.570          0.912          -0.868         0              45             0              55
   9  Spoon           -0.211         0.912          1.094          0              0              0              45
  10  Spatula         -2.227         0.788          0.343          0              90             0              62
  11  Spatula         -0.341         0.925          0.870          0              0              0              45
  12  Cup             -2.455         0.908          0.031          0              0              0              73
  13  Cup             -0.601         0.908          1.764          0              0              0              45
  14  Plate           -0.341         0.913          1.317          0              0              0              45
  15  Plate           -0.211         0.913          1.764          0              0              0              45
  16  Tomato          1.855          0.953          -0.726         0              0              0              55
  17  PepperShaker    -2.484         1.578          -1.485         0              180            0              72
  18  Mug             -2.241         0.109          0.334          0              0              0              70
  19  Mug             0.464          0.955          -1.593         0              0              0              55
  20  Apple           -2.206         0.972          0.631          0              0              0              73
  21  Apple           -2.538         0.972          1.230          0              0              0              73
  22  Pan             0.0            0.9            0.948          0              29.999         0              45
  23  Knife           -0.471         0.936          1.540          0              0              0              45
  24  Apple           -2.393         1.150          -0.885         0              90             0              77
  25  Bowl            -2.439         1.297          -0.885         0              90             0              77
  26  Fork            -0.471         0.911          1.764          0              0              0              45
  27  Bread           -0.601         0.996          0.647          0              0              0              45
  28  Plate           1.407          0.921          -1.185         0              225            0              59
  29  Egg             1.294          0.949          -1.018         0              225            0              59
  30  Kettle          1.771          1.657          0.239          0              0              0              64
  31  Potato          -2.559         0.631          -1.051         0              90             0              77
  32  SaltShaker      -2.685         1.532          0.125          0              0              0              68
  33  Lettuce         -0.601         0.994          0.423          0              0              0              45
  34  Cup             -2.599         1.535          0.846          0              0              0              69
  35  SoapBottle      -2.289         0.912          0.931          0              0              0              73
  36  Spatula         -2.318         0.788          0.534          0              270            0              62
  37  PaperTowelRoll  0.999          1.015          -1.758         0              45             0              55
  38  ButterKnife     -2.621         0.910          0.631          0              0              0              73
  39  PepperShaker    1.881          0.905          -0.897         0              0              0              55
  40  DishSponge      1.698          1.663          -0.263         0              0              0              65
  41  Pot             1.691          0.929          0.064          0              0              0              56
  42  Spoon           -2.196         0.775          0.809          0              90             0              50
  43  Tomato          1.604          0.227          0.679          0              0              0              84
  44  Mug             -2.578         1.295          -0.602         0              180            0              77
  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: Move forward to just past the island, turn left and move forward to the counter left of the stove, turn right and move to the counter. | STEP 2: Pick up the knife. | STEP 3: Turn around, move to the island, turn left, move to just past the island, turn right, move just past the island, turn right, move alongside the bread and lettuce on the island, turn right. | STEP 4: Slice the lettuce. | STEP 5: Turn right, move past the island, turn right, move to the fridge. | STEP 6: Open the fridge doors, put the knife in the freezer, close the doors. | STEP 7: Turn right, move just past the fridge, turn right, move to the island, turn left, move to the lettuce on the island, turn right, move to the island. | STEP 8: Pick up a slice of lettuce. | STEP 9: turn right, move to past the island, turn right, move to the fridge,  | STEP 10: OPen the fridge doors, put the lettuce on the top fridge shelf, close the fridge doors, wait 7 seconds, open the fridge doors, remove the lettuce slice, close the fridge doors. | STEP 11: Turn right, move just past the fridge, turn right, move forward just past the island, turn left, move forward to the window on the right, turn right. | STEP 12: Drop the lettuce. | END