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           -1.5           0.900          6.25           0              90             0
   1  Pan             1.562          0.988          3.848          0              0              0              49
   2  Potato          1.225          1.027          3.417          0              0              0              55
   3  Potato          0.923          1.027          0.578          0              0              0              55
   4  ButterKnife     -0.159         0.760          6.014          0              0              0              91
   5  ButterKnife     0.104          0.760          6.653          0              225            0              91
   6  Kettle          -0.014         0.145          0.429          0              0              0              64
   7  Pot             1.317          0.988          4.294          0              0              0              50
   8  Fork            0.938          0.772          0.619          0              270            0              47
   9  Egg             -0.072         0.810          6.830          0              225            0              91
  10  Cup             -0.621         0.756          6.666          0              270            0              91
  11  Plate           1.490          0.141          3.291          0              0              0              66
  12  Plate           0.815          0.144          0.497          0              0              0              61
  13  SoapBottle      -0.574         0.760          6.240          0              225            0              91
  14  Bowl            0.604          0.142          0.260          0              0              0              61
  15  PepperShaker    1.456          1.572          1.105          0              0              0              65
  16  SaltShaker      0.305          0.755          6.541          0              270            0              91
  17  SaltShaker      -0.611         0.987          0.486          0              0              0              55
  18  Apple           0.305          0.834          6.354          0              270            0              91
  19  Apple           2.137          1.590          5.751          0              270            0              77
  20  Bowl            0.125          0.759          6.851          0              225            0              91
  21  Bread           -0.459         1.062          0.486          0              0              0              55
  22  Egg             -0.158         0.810          6.291          0              270            0              91
  23  Knife           -0.284         0.789          6.478          0              270            0              91
  24  Fork            -0.467         0.760          6.541          0              270            0              91
  25  Apple           -0.245         0.834          6.830          0              135            0              91
  26  Kettle          0.885          0.144          0.260          0              90             0              61
  27  Plate           -0.552         0.144          0.277          0              0              0              63
  28  SaltShaker      0.193          0.139          0.582          0              0              0              64
  29  Lettuce         -0.487         0.848          6.807          0              135            0              91
  30  SoapBottle      2.154          0.080          6.439          0              270            0              79
  31  Spatula         1.124          0.786          3.223          0              90             0              48
  32  PaperTowelRoll  1.403          1.096          1.350          0              0              0              55
  33  Pot             1.559          0.988          4.294          0              0              0              53
  34  Potato          -0.312         0.794          6.666          0              270            0              91
  35  ButterKnife     1.348          0.771          3.291          0              0              0              48
  36  PepperShaker    1.140          1.574          0.383          0              0              0              69
  37  Pan             1.313          0.985          4.284          0              0              0              50
  38  Tomato          2.009          1.565          5.876          0              270            0              77
  39  DishSponge      0.803          0.771          0.563          0              0              0              47
  40  Cup             2.094          1.511          5.251          0              270            0              77
  41  Spoon           -0.071         0.761          6.568          0              135            0              91
  42  Mug             -0.332         0.755          6.217          0              225            0              91
  43  Cabinet         1.307          2.455          4.360          0              0              0
  44  Cabinet         1.054          0.422          1.710          0              0              0
  45  Drawer          1.280          0.808          4.718          0              0              0
  46  Cabinet         1.307          2.455          3.607          0              0              0
  47  Drawer          0.736          0.802          0.521          0              0              0
  48  Drawer          1.276          0.802          3.291          0              0              0
  49  StoveBurner     1.562          0.982          3.848          0              0              0
  50  StoveBurner     1.317          0.982          4.294          0              0              0
  51  Drawer          -0.482         0.802          0.521          0              0              0
  52  Drawer          0.124          0.802          0.521          0              0              0
  53  StoveBurner     1.559          0.982          4.294          0              0              0
  54  StoveBurner     1.320          0.982          3.848          0              0              0
  55  CounterTop      1.391          1.028          0.897          0              0              0
  56  CounterTop      1.391          1.028          4.716          0              0              0
  57  Cabinet         1.054          0.422          4.548          0              0              0
  58  Cabinet         1.317          2.134          0.517          0              0              0
  59  Cabinet         1.317          2.134          4.889          0              0              0
  60  Cabinet         1.317          2.134          3.095          0              0              0
  61  Cabinet         0.443          0.422          0.743          0              0              0
  62  Cabinet         1.270          2.134          0.434          0              0              0
  63  Cabinet         -0.775         0.422          0.743          0              0              0
  64  Cabinet         -0.168         0.422          0.743          0              0              0
  65  Cabinet         1.317          2.134          1.534          0              0              0
  66  Cabinet         1.054          0.422          2.990          0              0              0
  67  Cabinet         1.054          0.422          2.944          0              0              0
  68  Cabinet         -0.263         2.134          0.434          0              0              0
  69  Cabinet         0.252          2.134          0.434          0              0              0
  70  Sink            1.391          1.006          2.326          0              0              0
  71  Microwave       0.108          0.981          0.262          0              0              0
  72  HousePlant      -0.165         0.826          6.444          0              0              0
  73  CoffeeMachine   1.551          0.982          0.953          0              270            0
  74  Toaster         1.473          0.981          4.715          0              270            0
  75  Window          -2.065         1.916          3.626          90             90             0
  76  Window          1.763          2.007          2.299          90             270            0
  77  Fridge          2.035          0.0            5.625          0              0              0
  78  SinkBasin       1.387          0.880          2.338          0              90             0
  79  GarbageCan      2.001          -0.044         6.503          0              0              0
  80  StoveKnob       1.140          0.934          3.987          45             270            0
  81  StoveKnob       1.140          0.934          4.309          45             270            0
  82  StoveKnob       1.140          0.934          4.140          45             270            0
  83  StoveKnob       1.140          0.934          3.824          45             270            0
  84  Vase            -0.226         0.834          6.993          0              0              0
  85  Vase            2.098          0.043          7.070          0              257.232        0
  86  Vase            -0.594         0.835          6.130          0              225            0
  87  LightSwitch     -2.0           1.549          6.045          0              90             0
  88  Safe            2.046          1.072          7.054          0              257.232        0
  89  Faucet          1.534          1.025          2.371          0              294.391        0
  90  Blinds          1.738          2.563          2.312          0              90             0
  91  DiningTable     -0.156         0.000          6.474          0              0              0
  92  Chair           0.291          0.002          6.142          0              310.162        0
  93  GarbageBag      -1.092         0.318          0.268          270            90             83.492
  94  NorthWall
  95  EastWall
  96  SouthWall
  97  WestWall

Plan:
STEP 1: Go towards the round table. | STEP 2: Take the large knife from the table. | STEP 3: Move over to the left while facing the table. | STEP 4: Cut the lettuce into slices. | STEP 5: Turn right, go straight, when past the table turn left, go straight to the fridge. | STEP 6: Put the knife on the bottom shelf of the fridge. | STEP 7: Turn around, go straight, when past the table turn right, go straight to the wall, turn right to face the table. | STEP 8: Take a slice of lettuce. | STEP 9: Turn right, go straight, when past the table turn left, go straight to the fridge. | STEP 10: Put the lettuce on the bottom shelf of the fridge. Close then open the fridge. Take the lettuce from the fridge. | STEP 11: Turn left, go towards the wall, turn left to face the round table. | STEP 12: Put the lettuce on the table to the bottom left of the spoon. | END