Task: Put a chilled slice of 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           -0.25          0.900          2.0            0              180            0
   1  Potato          -1.856         0.941          -2.366         0              0              0              84
   2  Potato          -2.121         0.570          0.837          0              90             0              92
   3  Cup             -2.018         0.767          -1.242         0              90             0              94
   4  Cup             -2.037         0.796          1.085          0              90             0              92
   5  Egg             -1.907         0.083          1.885          0              270            0              90
   6  Tomato          -2.163         1.542          1.092          0              90             0              92
   7  Tomato          -2.019         0.950          -0.698         0              0              0              84
   8  SaltShaker      -1.715         0.126          0.203          0              90             0              65
   9  SaltShaker      1.121          0.138          -2.237         0              0              0              79
  10  PepperShaker    0.620          0.136          -2.288         0              0              0              76
  11  PepperShaker    -1.937         0.907          -0.884         0              0              0              84
  12  Bread           -0.197         1.184          0.251          0              0              0              59
  13  Lettuce         0.217          1.191          -0.253         0              0              0              59
  14  Lettuce         -1.290         0.991          -2.329         0              0              0              84
  15  Knife           0.355          1.136          -0.759         0              0              0              59
  16  Spoon           -1.693         0.912          -0.513         0              180            0              84
  17  Spoon           -1.693         0.912          -0.698         0              180            0              84
  18  Spatula         -1.908         0.784          -1.414         0              90             0              94
  19  Pot             -0.465         0.950          -2.576         0              90             0              68
  20  Pot             -0.912         0.141          -2.402         0              0              0              77
  21  DishSponge      0.079          1.111          0.251          0              0              0              59
  22  DishSponge      -1.765         0.129          0.112          0              90             0              65
  23  Bowl            -1.963         0.766          -1.501         0              90             0              94
  24  Book            0.155          1.1            0.617          0              315            0              59
  25  Glassbottle     -1.438         0.912          -2.329         0              0              0              84
  26  Knife           0.840          0.936          -2.560         0              180            0              61
  27  Bread           -0.197         1.184          -0.506         0              0              0              59
  28  Fork            0.779          0.315          -2.431         0              90             0              63
  29  Potato          -1.438         0.941          -2.713         0              0              0              84
  30  SoapBottle      -1.574         0.912          -0.936         0              0              0              84
  31  Kettle          0.341          1.661          -2.632         0              0              0              83
  32  Pan             0.079          1.111          -0.001         0              270            0              59
  33  Plate           -0.848         0.908          -2.637         0              0              0              84
  34  Tomato          -1.797         0.808          -1.414         0              90             0              94
  35  Vase            2.042          0.540          -2.495         0              0              0              89
  36  Egg             -1.880         0.083          2.172          0              270            0              90
  37  CreditCard      1.098          0.907          -2.407         0              0              0              61
  38  Statue          1.955          0.168          -2.543         0              0              0              91
  39  WineBottle      -1.200         0.137          -2.402         0              0              0              77
  40  Pot             -0.036         0.950          -2.372         0              270            0              54
  41  Spatula         0.893          0.330          -2.286         0              270            0              63
  42  PaperTowelRoll  -1.962         0.152          2.076          0              270            0              90
  43  Cup             -2.026         1.303          1.092          0              90             0              92
  44  Vase            0.079          1.109          -0.506         0              0              0              59
  45  Bowl            1.582          0.549          -2.666         0              180            0              89
  46  SaltShaker      0.505          1.656          -2.667         0              0              0              83
  47  PepperShaker    -1.653         0.150          -0.293         0              90             0              82
  48  Lettuce         -0.335         1.191          0.757          0              0              0              59
  49  ButterKnife     -0.197         1.111          0.757          0              0              0              59
  50  Apple           -0.197         1.162          -0.001         0              0              0              59
  51  DishSponge      -1.797         0.769          -1.673         0              90             0              94
  52  Spoon           -1.438         0.912          -2.483         0              0              0              84
  53  Mug             -1.731         0.956          -0.168         0              90             0              93
  54  StoveBurner     -0.036         0.915          -2.372         0              0              0
  55  Drawer          0.949          0.832          -2.197         0              0              0
  56  Drawer          -1.560         0.839          0.204          0              90             0
  57  StoveBurner     -0.465         0.915          -2.371         0              180            0
  58  Drawer          -1.560         0.839          -0.197         0              90             0
  59  CounterTop      -0.079         1.147          -0.001         0              0              0
  60  Cabinet         -1.549         0.494          -1.964         0              90             0
  61  CounterTop      0.693          0.946          -2.483         0              0              0
  62  StoveBurner     -0.036         0.915          -2.576         0              0              0
  63  Drawer          0.949          0.393          -2.200         0              0              0
  64  Drawer          0.949          0.708          -2.200         0              0              0
  65  Cabinet         -1.549         0.494          0.379          0              90             0
  66  StoveKnob       -0.022         0.881          -2.187         45             0              0
  67  Drawer          0.949          0.560          -2.201         0              0              0
  68  StoveBurner     -0.465         0.915          -2.575         0              180            0
  69  Window          -2.230         1.429          -1.203         0              0              0
  70  StoveKnob       -0.483         0.881          -2.187         45             0              0
  71  Sink            -1.899         0.964          -1.5           0              90             0
  72  StoveKnob       -0.328         0.881          -2.187         45             0              0
  73  Cabinet         -0.727         2.015          -2.460         0              0              0
  74  Drawer          -1.560         0.655          -0.196         0              90             0
  75  Cabinet         -1.685         2.015          -2.461         0              0              0
  76  Cabinet         0.680          0.494          -2.200         0              0              0
  77  Cabinet         -1.179         0.494          -2.200         0              0              0
  78  Cabinet         -1.849         2.015          0.379          0              90             0
  79  Drawer          0.949          0.221          -2.200         0              0              0
  80  StoveKnob       -0.183         0.881          -2.187         45             0              0
  81  Cabinet         0.719          2.015          -2.460         0              0              0
  82  Drawer          -1.560         0.331          -0.196         0              90             0
  83  Cabinet         0.680          2.015          -2.460         0              0              0
  84  CounterTop      -1.868         0.946          -1.205         0              0              0
  85  Microwave       -0.236         1.689          -2.525         0              0              0
  86  Shelf           1.751          0.880          -2.560         0              0              0
  87  HousePlant      -1.948         0.889          -2.520         0              5.334          0
  88  Toaster         -1.835         0.900          0.134          0              90             0
  89  Shelf           1.750          0.552          -2.559         0              0              0
  90  GarbageCan      -1.935         -0.002         2.029          0              270            0
  91  Shelf           1.750          0.172          -2.559         0              0              0
  92  Fridge          -2.096         0.0            1.088          0              0              0
  93  CoffeeMachine   -1.977         0.900          -0.188         0              90             0
  94  SinkBasin       -1.908         0.759          -1.488         0              90             0
  95  LightSwitch     2.329          1.309          -0.159         0              270            0
  96  ShelvingUnit    1.750          0.006          -2.559         0              0              0
  97  Stool           0.702          0.000          -0.514         1.202          65.108         0
  98  Stool           0.743          0.000          0.563          1.227          106.706        0
  99  Faucet          -2.070         1.132          -1.514         0              0              0
 100  NorthWall
 101  EastWall
 102  SouthWall
 103  WestWall

Plan:
STEP 1: Go straight to the counter. | STEP 2: Pick up the knife on the counter.  | STEP 3: Turn right, go toward the fridge, turn left and go across the room to the counter. | STEP 4: Cut the lettuce on the counter. | STEP 5: Turn around and go to the fridge. | STEP 6: Put the knife in the fridge. | STEP 7: Turn left and go across the room to the counter. | STEP 8: Pick up a slice of lettuce. | STEP 9: Turn around and go back to the fridge. | STEP 10: Chill the slice of lettuce in the fridge an pick it back up. | STEP 11: Turn right and go to the sink on the right. | STEP 12: Put the slice of lettuce on the counter to the left of the sink. | END