Task: Put some cold 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           3.0            0.900          0.25           0              90             0
   1  Pan             0.974          0.957          -1.419         0              180            0              79
   2  Statue          3.689          0.551          1.553          0              90             0              84
   3  Potato          -2.733         0.915          3.053          0              0              0              63
   4  Potato          1.316          1.798          -1.663         0              0              0              85
   5  Book            -2.196         0.875          2.968          0              135            0              63
   6  Book            -1.738         0.908          0.037          0              0              0              61
   7  DishSponge      -1.576         0.119          -0.766         0              0              0              66
   8  DishSponge      0.591          0.116          -1.370         0              0              0              68
   9  ButterKnife     0.289          0.928          -1.718         0              270            0              58
  10  Kettle          1.328          0.957          -1.420         0              180            0              65
  11  Spatula         -0.040         0.943          -1.501         0              270            0              58
  12  Pot             -1.961         0.914          -0.939         0              0              0              61
  13  Cup             -2.434         0.873          3.207          0              135            0              63
  14  Cup             0.234          0.927          -1.573         0              270            0              58
  15  Plate           -0.263         0.807          2.251          0              180            0              86
  16  Plate           0.036          0.118          -1.379         0              0              0              69
  17  Knife           -3.017         0.896          2.863          0              225            0              63
  18  SoapBottle      0.709          0.912          -1.471         0              0              0              61
  19  SoapBottle      -1.501         1.657          -1.674         0              0              0              74
  20  Tomato          -0.149         0.436          1.996          0              180            0              86
  21  Bowl            -2.584         0.876          2.884          0              0              0              63
  22  SaltShaker      1.578          0.906          -1.437         0              0              0              81
  23  SaltShaker      -1.938         0.116          -1.506         0              0              0              62
  24  PepperShaker    0.466          0.112          -1.370         0              0              0              68
  25  PepperShaker    -2.152         0.871          3.221          0              270            0              63
  26  Bread           -2.315         0.958          3.355          0              225            0              63
  27  Apple           -3.002         0.929          3.088          0              225            0              63
  28  Apple           -1.738         0.967          0.363          0              0              0              61
  29  Book            -1.649         0.116          -0.991         0              0              0              66
  30  Fork            -0.330         0.697          -1.520         0              90             0              90
  31  Tomato          0.079          1.619          2.219          0              180            0              86
  32  Egg             -0.034         0.828          2.194          0              180            0              86
  33  Kettle          1.328          0.957          -1.688         0              180            0              64
  34  Vase            3.689          0.554          1.864          0              270            0              84
  35  Cup             1.104          1.759          -1.629         0              0              0              85
  36  WineBottle      3.689          0.881          1.656          0              270            0              82
  37  Plate           -2.088         0.123          -1.580         0              0              0              62
  38  Spatula         -2.912         0.889          3.685          0              225            0              63
  39  Potato          0.289          0.965          -1.356         0              0              0              58
  40  Pot             -2.659         0.880          3.728          0              0              0              63
  41  Knife           -1.748         0.739          -0.930         0              90             0              76
  42  SaltShaker      0.934          2.153          -1.747         0              0              0              75
  43  PepperShaker    0.709          0.908          -1.776         0              0              0              61
  44  Lettuce         -2.072         0.977          0.037          0              0              0              61
  45  ButterKnife     0.234          0.928          -1.501         0              270            0              58
  46  Bread           -3.165         0.958          3.221          0              270            0              63
  47  Vase            -2.807         0.875          2.884          0              0              0              63
  48  DishSponge      -0.897         0.192          2.058          0              90             0              91
  49  Apple           -0.149         1.199          2.246          0              180            0              86
  50  Pan             -0.263         1.571          2.040          0              180            0              86
  51  Spoon           -1.516         0.913          -0.614         0              0              0              76
  52  SoapBottle      -2.405         0.875          2.758          0              135            0              63
  53  Mug             -1.112         0.958          -1.479         0              0              0              98
  54  Statue          -2.405         0.885          3.685          0              225            0              63
  55  Statue          -1.961         0.910          -0.288         0              90             0              61
  56  Bowl            -1.849         0.910          -1.265         0              0              0              61
  57  Cabinet         -2.171         2.009          -1.538         0              0              0
  58  Sink            0.024          0.771          -1.708         0              270            0
  59  Cabinet         1.444          2.259          -1.542         0              0              0
  60  StoveBurner     0.974          0.957          -1.688         0              180            0
  61  CounterTop      -1.866         0.947          -0.614         0              0              0
  62  Cabinet         -2.217         0.373          -1.874         0              0              0
  63  DiningTable     -2.663         0.002          3.208          0              0              0
  64  StoveBurner     1.328          0.957          -1.688         0              180            0
  65  StoveBurner     1.328          0.957          -1.420         0              180            0
  66  Cabinet         -1.478         0.373          -1.235         0              0              0
  67  Cabinet         1.775          0.372          -1.242         0              0              0
  68  Cabinet         0.774          0.372          -1.242         0              0              0
  69  Cabinet         0.375          0.372          -1.242         0              0              0
  70  Cabinet         -0.574         0.372          -1.238         0              0              0
  71  Cabinet         1.775          2.009          -1.542         0              0              0
  72  Cabinet         0.524          2.009          -1.542         0              0              0
  73  Cabinet         -0.714         2.009          -1.542         0              0              0
  74  Cabinet         -1.671         2.009          -1.538         0              0              0
  75  Cabinet         0.854          2.259          -1.542         0              0              0
  76  Drawer          -1.636         0.683          -0.930         0              0              0
  77  Drawer          1.650          0.682          -1.396         0              0              0
  78  Drawer          0.600          0.682          -1.396         0              0              0
  79  StoveBurner     0.974          0.957          -1.419         0              180            0
  80  Drawer          -2.062         0.683          -1.579         0              0              0
  81  CounterTop      1.645          0.945          -1.527         0              0              0
  82  Shelf           3.725          0.880          1.671          0              90             0
  83  LightSwitch     2.830          1.266          -0.748         0              0              0
  84  Shelf           3.726          0.552          1.671          0              90             0
  85  Microwave       1.150          1.655          -1.614         0              0              0
  86  Fridge          -0.035         0.0            2.177          0              180            0
  87  Window          -0.115         1.802          -1.896         90             0              0
  88  Window          -4.009         1.799          0.310          90             90             0
  89  Shelf           3.726          0.172          1.671          0              90             0
  90  SinkBasin       -0.330         0.686          -1.581         0              270            0
  91  GarbageCan      -0.870         -0.001         2.136          0              90             0
  92  StoveKnob       1.089          0.913          -1.243         45             0              0
  93  StoveKnob       1.208          0.913          -1.243         45             0              0
  94  StoveKnob       1.340          0.913          -1.243         45             0              0
  95  StoveKnob       0.961          0.913          -1.243         45             0              0
  96  Toaster         1.637          0.900          -1.673         0              0              0
  97  Chair           -3.505         0.002          3.290          0              105.736        0
  98  CoffeeMachine   -1.111         0.900          -1.726         0              0              0
  99  HousePlant      -2.663         0.835          3.209          0              0              0
 100  Faucet          -0.187         0.922          -1.75          0              311.166        0
 101  ShelvingUnit    3.726          0.006          1.671          0              90             0
 102  Stool           -2.501         -0.000         0.062          1.223          91.243         0
 103  Stool           -2.475         -0.000         -0.802         1.209          69.808         0
 104  Chair           -2.934         0.002          2.437          0              28.531         0
 105  Chair           -1.698         0.002          3.235          0              245.204        0
 106  NorthWall
 107  EastWall
 108  SouthWall
 109  WestWall

Plan:
STEP 1: Turn around and cross the kitchen, then turn left and face the drying rack to the left of the sink. | STEP 2: Pick up the knife from the drying rack. | STEP 3: Bring the knife with you and go to the far side of the bar counter so that you are on the same side of it as the stools, then turn left to face it. | STEP 4: Use the knife to cut the head of lettuce on the bar counter. | STEP 5: Bring the knife with you and cross the room, move to face the counter to the left of the stove. | STEP 6: Put the knife down on the counter in front of the toaster and the salt. | STEP 7: Go back to the spot where you chopped the lettuce on the bar counter. | STEP 8: Pick up a piece of the lettuce. | STEP 9: Carry the lettuce over to the black fridge and face it. | STEP 10: Put the lettuce on the top shelf in the fridge and close the door to let it cool, then take it out again. | STEP 11: Carry the lettuce over to the counter where you left the knife. | STEP 12: Put the lettuce down to the left of the knife. | END