Task: Place a chilled piece of sliced lettuce on the counter in front of the toaster.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.75          0.900          -0.25          0              180            0
   1  Kettle          -0.147         0.111          -1.545         0              0              0              61
   2  Kettle          -2.477         0.953          0.435          0              90             0              85
   3  Potato          -2.047         1.522          -1.720         0              0              0              82
   4  ButterKnife     1.658          0.912          -1.406         0              0              0              52
   5  ButterKnife     0.167          0.912          0.292          0              90             0              51
   6  Pot             1.007          0.962          0.561          0              270            0              54
   7  Fork            -1.791         0.952          0.345          0              90             0              85
   8  Spatula         0.167          0.927          0.292          0              0              0              51
   9  Spatula         0.167          0.927          0.623          0              0              0              51
  10  Plate           -1.959         0.512          -1.763         0              0              0              82
  11  SoapBottle      1.785          0.910          0.540          0              0              0              67
  12  SoapBottle      -2.340         0.950          0.255          0              90             0              85
  13  Tomato          1.663          0.961          0.375          0              0              0              67
  14  Tomato          -0.361         0.119          0.439          0              90             0              81
  15  Bowl            0.332          0.108          -1.547         0              180            0              49
  16  Bowl            0.753          0.918          -1.649         0              270            0              50
  17  SaltShaker      -2.203         0.948          0.165          0              90             0              85
  18  PepperShaker    -2.203         0.948          0.435          0              90             0              85
  19  Lettuce         1.658          1.002          -1.737         0              0              0              52
  20  Lettuce         -1.928         1.042          0.614          0              90             0              85
  21  Lettuce         1.781          1.002          -1.489         0              0              0              52
  22  Mug             -0.975         1.010          -1.737         0              0              0              74
  23  Bread           1.299          0.978          -1.532         0              0              0              52
  24  Knife           -2.340         0.977          0.524          0              90             0              85
  25  Fork            -2.340         0.952          0.345          0              90             0              85
  26  Bowl            -0.634         0.110          -1.471         0              0              0              66
  27  Kettle          -0.055         0.9            0.643          0              0              0              51
  28  Cup             -2.135         1.051          -1.849         0              0              0              82
  29  Tomato          -2.135         1.101          -1.677         0              0              0              82
  30  SoapBottle      0.680          0.108          0.308          0              0              0              63
  31  Plate           -0.111         0.900          -1.596         0              0              0              52
  32  Pot             1.361          0.962          0.561          0              270            0              57
  33  Spatula         1.907          0.927          0.292          0              0              0              67
  34  PaperTowelRoll  1.601          1.016          0.623          0              0              0              67
  35  Egg             -0.267         0.947          -1.489         0              0              0              52
  36  Lettuce         -1.928         1.042          0.255          0              90             0              85
  37  SaltShaker      -2.614         0.948          0.704          0              90             0              85
  38  PepperShaker    -2.614         0.948          0.345          0              90             0              85
  39  Apple           -2.397         1.118          -1.677         0              0              0              82
  40  ButterKnife     0.377          0.782          -1.648         0              270            0              75
  41  Potato          0.856          0.949          -1.516         0              270            0              50
  42  Pan             -1.959         0.780          -1.763         0              90             0              82
  43  DishSponge      1.791          0.773          0.306          0              0              0              53
  44  Spoon           1.858          0.775          0.339          0              270            0              53
  45  Mug             0.618          0.945          0.469          0              180            0              76
  46  Cabinet         -0.193         1.688          -1.648         0              180            0
  47  StoveBurner     1.360          0.957          0.293          0              180            0
  48  Drawer          0.499          0.792          0.296          0              0              0
  49  Cabinet         0.095          0.400          -1.352         0              180            0
  50  Sink            0.711          0.817          -1.772         0              270            0
  51  CounterTop      0.280          0.947          0.458          0              0              0
  52  CounterTop      -0.680         0.947          -1.654         0              0              0
  53  Drawer          1.825          0.792          0.296          0              0              0
  54  StoveBurner     1.007          0.957          0.561          0              270            0
  55  Drawer          -0.150         0.792          -1.496         0              0              0
  56  Drawer          -0.586         0.792          -1.496         0              0              0
  57  StoveBurner     1.360          0.957          0.561          0              270            0
  58  Drawer          0.024          0.792          0.296          0              0              0
  59  Cabinet         1.079          0.400          -1.349         0              180            0
  60  Cabinet         1.669          0.402          0.151          0              0              0
  61  Cabinet         0.055          0.402          -1.351         0              0              0
  62  Cabinet         -0.180         0.402          0.151          0              0              0
  63  Cabinet         0.729          0.402          0.151          0              0              0
  64  StoveBurner     1.007          0.957          0.293          0              180            0
  65  Drawer          -1.100         0.792          -1.496         0              0              0
  66  Cabinet         -0.396         0.402          -1.351         0              0              0
  67  CounterTop      1.776          0.947          0.458          0              0              0
  68  Cabinet         1.974          1.688          -1.648         0              180            0
  69  Cabinet         -0.820         0.400          -1.349         0              180            0
  70  Toaster         0.305          0.900          0.552          0              180            0
  71  LightSwitch     -2.756         1.307          -0.987         0              90             0
  72  Window          0.582          1.613          -1.967         90             0              0
  73  Window          1.969          1.5            -0.615         90             270            0
  74  Microwave       -1.037         0.900          -1.723         0              0              0
  75  SinkBasin       0.377          0.765          -1.655         0              270            0
  76  CoffeeMachine   0.618          0.900          0.600          0              180            0
  77  StoveKnob       1.246          0.913          0.118          45             180            0
  78  StoveKnob       1.373          0.913          0.118          45             180            0
  79  StoveKnob       0.995          0.913          0.118          45             180            0
  80  StoveKnob       1.126          0.913          0.118          45             180            0
  81  GarbageCan      -0.368         -0.029         0.539          0              90             0
  82  Fridge          -2.134         0.0            -1.690         0              0              0
  83  Faucet          0.549          1.046          -1.833         0              232.527        0
  84  Stool           -1.475         0.000          0.414          1.233          280.375        0
  85  DiningTable     -2.255         -0.004         0.432          0              0              0
  86  NorthWall
  87  EastWall
  88  SouthWall
  89  WestWall

Plan:
STEP 1: Turn left and walk across the room, then turn right and walk over to the kitchen counter where the dishwasher is. | STEP 2: Pick up the metal butter knife off of the counter. | STEP 3: Use the metal butter knife to slice up the closest head of lettuce. | STEP 4: Turn right and take a step, then turn right again to face the kitchen counter. | STEP 5: Open the lower right cabinet door and place the metal butter knife inside. | STEP 6: Turn around and walk back over to the sliced head of lettuce. | STEP 7: Pick up a piece of sliced lettuce. | STEP 8: Turn right and begin walking across the room, then stop once at the fridge and turn left. | STEP 9: Open the fridge door and place the piece of sliced lettuce on the second rack from the bottom, and close the fridge door, after a couple seconds open the fridge door, remove the piece of sliced lettuce, and close the door. | STEP 10: Turn left and begin walking across the room, then hang a left and walk up to the toaster on the kitchen counter. | STEP 11: Place the chilled piece of sliced lettuce onto the counter in front of the toaster. | END