Task: Put a cold slice of lettuce on a table.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.5           0.900          4.25           0              270            0
   1  Ladle           2.706          1.066          -1.151         0              0              0              46
   2  ButterKnife     2.373          0.764          3.787          0              225            0              47
   3  ButterKnife     2.599          0.764          3.445          0              0              0              47
   4  WineBottle      2.959          1.027          0.068          0              0              0              46
   5  WineBottle      2.555          0.765          3.865          0              225            0              47
   6  Spoon           2.525          0.765          4.495          0              180            0              47
   7  Spoon           -1.045         1.028          1.821          0              180            0              49
   8  Egg             2.239          0.808          4.484          0              329.999        0              47
   9  Knife           2.061          0.789          3.580          0              225            0              47
  10  Tomato          -0.851         0.870          1.259          0              90             0              103
  11  Tomato          2.439          1.080          1.056          0              136.999        0              46
  12  SoapBottle      -0.944         1.779          2.369          0              0              0              84
  13  SaltShaker      2.537          0.796          -0.607         0              0              0              55
  14  SaltShaker      2.203          0.760          4.251          0              329.999        0              47
  15  PepperShaker    2.275          0.760          4.192          0              270            0              47
  16  Lettuce         2.376          0.822          4.32           0              0              0              47
  17  Mug             -0.987         0.781          -0.738         0              90             0              90
  18  Pan             1.836          1.027          -1.84          0              90             0              44
  19  Glassbottle     2.299          1.027          1.205          0              136.999        0              46
  20  Knife           1.925          0.789          3.969          0              270            0              47
  21  SoapBottle      2.258          0.763          3.858          0              329.999        0              47
  22  Egg             -0.714         0.860          1.181          0              90             0              103
  23  Fork            -0.794         1.028          2.556          0              0              0              49
  24  Potato          -0.877         1.484          -0.516         0              90             0              90
  25  Ladle           2.840          0.803          4.359          0              225            0              47
  26  Tomato          2.451          0.818          4.495          0              0              0              47
  27  Pot             2.116          1.027          -1.84          0              270            0              50
  28  WineBottle      -0.956         0.078          2.874          0              0              0              101
  29  Plate           2.737          0.033          -1.228         0              0              0              88
  30  Spatula         -0.418         1.042          1.821          0              0              0              49
  31  PaperTowelRoll  2.800          0.868          4.118          0              270            0              47
  32  Lettuce         2.528          0.822          4.152          0              225            0              47
  33  Apple           -0.714         0.866          1.103          0              90             0              103
  34  SaltShaker      2.818          0.799          -0.994         0              0              0              54
  35  PepperShaker    2.194          1.023          1.107          0              136.999        0              46
  36  ButterKnife     2.706          1.026          -0.541         0              0              0              46
  37  Bread           1.290          1.094          -1.560         0              90             0              46
  38  Cup             2.658          0.763          4.282          0              225            0              47
  39  DishSponge      2.579          0.764          4.044          0              329.999        0              47
  40  Bowl            1.895          1.859          -1.843         0              0              0              92
  41  Spoon           -0.851         0.817          1.492          0              180            0              103
  42  Mug             1.848          1.021          1.900          0              136.999        0              46
  43  Sink            -0.716         1.023          1.333          0              0              0
  44  StoveBurner     1.835          1.018          -1.840         0              90             0
  45  StoveBurner     2.177          1.018          -1.599         0              0              0
  46  CounterTop      2.812          0.992          0.675          0              0              0
  47  DiningTable     2.419          0.003          3.930          0              0              0
  48  Drawer          -0.643         0.828          0.616          0              0              0
  49  CounterTop      -0.813         1.062          2.188          0              0              0
  50  StoveBurner     2.115          1.018          -1.840         0              270            0
  51  Drawer          -0.643         0.831          1.953          0              0              0
  52  Drawer          -0.643         0.833          2.418          0              0              0
  53  Drawer          1.347          0.836          -1.539         0              0              0
  54  Drawer          2.693          0.833          -1.131         0              0              0
  55  Drawer          2.693          0.833          -0.699         0              0              0
  56  Drawer          2.693          0.833          -0.267         0              0              0
  57  Drawer          2.693          0.833          0.163          0              0              0
  58  Drawer          2.524          0.833          0.720          0              2.000          0
  59  Drawer          2.232          0.833          1.036          0              2.000          0
  60  Drawer          1.936          0.833          1.354          0              2.000          0
  61  Drawer          1.646          0.833          1.670          0              2.000          0
  62  Cabinet         1.504          2.475          -1.710         0              0              0
  63  Cabinet         -0.823         2.220          1.621          0              0              0
  64  Cabinet         -0.823         2.220          0.615          0              0              0
  65  Cabinet         1.136          0.388          -1.355         0              0              0
  66  Cabinet         -0.356         0.383          2.626          0              0              0
  67  Cabinet         2.745          2.220          -1.690         0              0              0
  68  Cabinet         1.882          0.383          1.017          0              0              0
  69  Cabinet         1.307          0.473          1.640          0              0              0
  70  Cabinet         1.892          0.383          1.006          0              0              0
  71  Cabinet         2.467          0.383          0.383          0              0              0
  72  Cabinet         2.466          0.383          -0.475         0              0              0
  73  Cabinet         2.466          0.473          0.371          0              0              0
  74  Cabinet         2.386          2.475          -1.710         0              0              0
  75  Cabinet         -0.356         0.383          1.712          0              0              0
  76  Cabinet         2.745          2.220          0.019          0              0              0
  77  Cabinet         -0.663         2.496          0.157          0              0              0
  78  Cabinet         -0.663         2.496          -0.868         0              0              0
  79  Cabinet         -0.356         0.383          0.269          0              0              0
  80  Cabinet         -0.823         2.220          1.603          0              0              0
  81  Cabinet         -0.662         2.234          0.586          0              0              0
  82  Cabinet         2.745          2.220          -0.843         0              0              0
  83  Cabinet         2.745          2.220          -0.827         0              0              0
  84  Cabinet         -0.823         2.220          2.608          0              0              0
  85  Cabinet         2.732          2.226          -1.709         0              0              0
  86  Cabinet         1.137          2.226          -1.709         0              0              0
  87  Cabinet         2.466          0.383          -0.491         0              0              0
  88  Cabinet         2.466          0.383          -1.339         0              0              0
  89  StoveBurner     1.761          1.018          -1.599         0              0              0
  90  Fridge          -0.908         0.0            -0.405         0              0              0
  91  HousePlant      2.517          1.016          1.822          0              0              0
  92  Microwave       1.939          1.745          -1.826         0              0              0
  93  StoveKnob       2.017          1.041          -1.514         0              180            180
  94  StoveKnob       1.934          1.041          -1.514         0              180            180
  95  StoveKnob       2.017          1.041          -1.589         0              180            180
  96  StoveKnob       1.934          1.041          -1.589         0              180            180
  97  Window          1.756          1.608          4.762          90             0              0
  98  HousePlant      2.171          1.004          2.091          0              0              0
  99  CoffeeMachine   -0.942         1.018          0.645          0              90             0
 100  LightSwitch     -0.099         1.410          -2.066         0              0              0
 101  GarbageCan      -0.951         -0.029         2.826          0              0              0
 102  Toaster         -1.007         1.018          2.238          0              90             0
 103  SinkBasin       -0.714         0.805          1.348          0              90             0
 104  Chair           1.615          0.004          4.310          0              107.976        0
 105  Faucet          -1.120         1.013          1.334          0              90             0
 106  Chair           2.759          0.004          3.086          0              358.967        0
 107
 108  NorthWall
 109  EastWall
 110  SouthWall
 111  WestWall

Plan:
STEP 1: Turn left, go forward, go around the counter to the left and keep going forward, at the fridge turn left, go forward to the counter. | STEP 2: Take the knife from the counter. | STEP 3: Turn left, go forward and around the counter to the left, go forward, before reaching the round table turn right, go forward to the wall, turn left to the round white table. | STEP 4: Cut the left lettuce on the table into slices. | STEP 5: Turn left, go forward, turn left after passing the end of the counter to the left, go forward, turn right at the fridge, go to the fridge. | STEP 6: Put the knife to the right of the mug in the fridge. | STEP 7: Turn right, go forward, turn right after passing the end of the counter, go forward to the wall, turn left to face the round white table. | STEP 8: Take a slice of lettuce from the table. | STEP 9: Turn left, go forward, turn left after passing the end of the counter to the left, go forward, turn right at the fridge, go to the fridge. | STEP 10: Chill the lettuce in the fridge to the right of the knife. Take the lettuce from the fridge. | STEP 11: Turn right, go forward, turn right after passing the end of the counter, go forward to the wall, turn left to face the round white table. | STEP 12: Put the lettuce between the closest small knife and large knife on the table. | END