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           0.0            0.900          5.0            0              180            0
   1  Potato          -0.401         0.794          6.456          0              135            0              95
   2  DishSponge      0.123          0.759          6.107          0              135            0              95
   3  ButterKnife     0.696          0.992          0.395          0              0              0              59
   4  ButterKnife     1.349          0.771          4.717          0              180            0              49
   5  Pot             1.562          0.988          3.848          0              0              0              53
   6  Pot             1.559          0.988          4.294          0              0              0              57
   7  Spoon           0.871          0.773          0.619          0              0              0              51
   8  Egg             1.907          0.130          6.409          0              0              0              83
   9  Cup             -0.421         0.756          6.305          0              225            0              95
  10  Plate           1.493          0.993          0.213          0              0              0              59
  11  Knife           0.923          1.022          0.395          0              90             0              59
  12  Knife           0.104          0.789          6.653          0              315            0              95
  13  SoapBottle      -0.378         0.760          6.698          0              135            0              95
  14  Bowl            1.406          0.139          3.143          0              0              0              70
  15  PepperShaker    0.923          0.987          0.212          0              0              0              59
  16  PepperShaker    1.079          1.574          0.163          0              0              0              73
  17  SaltShaker      -0.137         0.755          6.677          0              315            0              95
  18  Bread           -0.687         1.062          0.212          0              0              0              59
  19  Lettuce         0.305          0.848          6.416          0              270            0              95
  20  Lettuce         0.102          0.848          6.305          0              135            0              95
  21  Mug             1.412          1.572          1.166          0              0              0              59
  22  Mug             1.135          0.987          1.350          0              0              0              59
  23  Apple           1.135          1.067          4.670          0              0              0              60
  24  Bowl            0.885          0.142          0.339          0              0              0              65
  25  Bread           1.099          1.048          0.434          0              0              0              59
  26  Egg             0.221          1.147          0.310          0              0              0              75
  27  Knife           -0.611         1.022          0.670          0              0              0              59
  28  Fork            -0.466         0.760          6.609          0              135            0              95
  29  Apple           1.497          0.965          2.474          0              90             0              82
  30  Kettle          1.573          0.141          3.365          0              0              0              70
  31  Plate           0.501          1.580          0.251          0              0              0              73
  32  SaltShaker      0.148          0.755          6.609          0              225            0              95
  33  Lettuce         1.449          0.932          2.050          0              0              0              82
  34  SoapBottle      0.674          0.143          0.655          0              90             0              65
  35  Spatula         -0.096         0.775          6.169          0              0              0              95
  36  PaperTowelRoll  1.314          1.096          3.231          0              0              0              59
  37  Pot             1.32           0.988          3.848          0              0              0              58
  38  Potato          -0.159         0.794          6.787          0              0              0              95
  39  ButterKnife     1.348          0.771          3.223          0              0              0              52
  40  PepperShaker    -0.621         0.755          6.541          0              270            0              95
  41  Pan             1.313          0.985          4.284          0              0              0              54
  42  Tomato          2.051          1.565          5.251          0              270            0              81
  43  DishSponge      0.256          0.759          6.240          0              135            0              95
  44  Cup             1.225          0.988          0.213          0              0              0              59
  45  Spoon           1.403          0.993          3.417          0              0              0              59
  46  Mug             0.064          1.092          0.245          0              0              0              75
  47  Cabinet         1.307          2.455          4.360          0              0              0
  48  Cabinet         1.054          0.422          1.710          0              0              0
  49  Drawer          1.280          0.808          4.718          0              0              0
  50  Cabinet         1.307          2.455          3.607          0              0              0
  51  Drawer          0.736          0.802          0.521          0              0              0
  52  Drawer          1.276          0.802          3.291          0              0              0
  53  StoveBurner     1.562          0.982          3.848          0              0              0
  54  StoveBurner     1.317          0.982          4.294          0              0              0
  55  Drawer          -0.482         0.802          0.521          0              0              0
  56  Drawer          0.124          0.802          0.521          0              0              0
  57  StoveBurner     1.559          0.982          4.294          0              0              0
  58  StoveBurner     1.320          0.982          3.848          0              0              0
  59  CounterTop      1.391          1.028          0.897          0              0              0
  60  CounterTop      1.391          1.028          4.716          0              0              0
  61  Cabinet         1.054          0.422          4.548          0              0              0
  62  Cabinet         1.317          2.134          0.517          0              0              0
  63  Cabinet         1.317          2.134          4.889          0              0              0
  64  Cabinet         1.317          2.134          3.095          0              0              0
  65  Cabinet         0.443          0.422          0.743          0              0              0
  66  Cabinet         1.270          2.134          0.434          0              0              0
  67  Cabinet         -0.775         0.422          0.743          0              0              0
  68  Cabinet         -0.168         0.422          0.743          0              0              0
  69  Cabinet         1.317          2.134          1.534          0              0              0
  70  Cabinet         1.054          0.422          2.990          0              0              0
  71  Cabinet         1.054          0.422          2.944          0              0              0
  72  Cabinet         -0.263         2.134          0.434          0              0              0
  73  Cabinet         0.252          2.134          0.434          0              0              0
  74  Sink            1.391          1.006          2.326          0              0              0
  75  Microwave       0.108          0.981          0.262          0              0              0
  76  HousePlant      -0.165         0.826          6.444          0              0              0
  77  CoffeeMachine   1.551          0.982          0.953          0              270            0
  78  Toaster         1.473          0.981          4.715          0              270            0
  79  Window          -2.065         1.916          3.626          90             90             0
  80  Window          1.763          2.007          2.299          90             270            0
  81  Fridge          2.035          0.0            5.625          0              0              0
  82  SinkBasin       1.387          0.880          2.338          0              90             0
  83  GarbageCan      2.001          -0.044         6.503          0              0              0
  84  StoveKnob       1.140          0.934          3.987          45             270            0
  85  StoveKnob       1.140          0.934          4.309          45             270            0
  86  StoveKnob       1.140          0.934          4.140          45             270            0
  87  StoveKnob       1.140          0.934          3.824          45             270            0
  88  Vase            -0.226         0.834          6.993          0              0              0
  89  Vase            2.098          0.043          7.070          0              257.232        0
  90  Vase            -0.594         0.835          6.130          0              225            0
  91  LightSwitch     -2.0           1.549          6.045          0              90             0
  92  Safe            2.046          1.072          7.054          0              257.232        0
  93  Faucet          1.534          1.025          2.371          0              294.391        0
  94  Blinds          1.738          2.563          2.312          0              90             0
  95  DiningTable     -0.156         0.000          6.474          0              0              0
  96  Chair           0.291          0.002          6.142          0              310.162        0
  97  GarbageBag      -1.092         0.318          0.268          270            90             83.492
  98  NorthWall
  99  EastWall
 100  SouthWall
 101  WestWall

Plan:
STEP 1: Turn left, go straight to the counter, turn right, go straight to the counter. | STEP 2: Take the large knife from the counter. | STEP 3: Turn around, go straight, turn left at the round black table. | STEP 4: Cut the lettuce closest to the plant on the table into slices. | STEP 5: Put the knife on the table to the right of the closest pepper mill. | STEP 6: Take a slice of lettuce from the table. | STEP 7: Turn around, go to the fridge to the forward right. | STEP 8: Put the slice of lettuce to the left of the tomato in the fridge. Close then open the fridge. Take the lettuce from the fridge. | STEP 9: Turn left, go back to the black round table. | STEP 10: Put the lettuce to the right of the large knife. | END