Task: Put a cold plate with a chilled piece of lettuce on it 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           -1.0           0.901          1.5            0              0              0
   1  Spatula         -2.377         0.677          0.300          0              90             0              56
   2  Spatula         -0.819         0.943          0.650          0              0              0              48
   3  Pot             -2.583         0.900          2.309          0              180            0              69
   4  Egg             -2.722         1.219          4.278          0              90             0              65
   5  Cup             -2.831         0.298          4.204          0              90             0              65
   6  Plate           -0.802         1.777          0.160          0              0              0              46
   7  Knife           -2.431         0.688          0.355          0              90             0              56
   8  SoapBottle      -2.832         0.053          0.334          0              26.101         0              62
   9  Bowl            -0.400         0.897          2.530          0              0              0              71
  10  SaltShaker      -2.628         0.931          3.766          0              0              0              55
  11  SaltShaker      -1.986         0.658          0.300          0              0              0              51
  12  PepperShaker    -0.326         0.658          0.464          0              0              0              37
  13  Lettuce         -0.228         0.980          2.731          0              0              0              71
  14  Lettuce         -1.770         1.007          0.518          0              0              0              48
  15  Apple           -2.764         0.688          4.352          0              90             0              65
  16  Egg             -2.681         1.219          4.427          0              90             0              65
  17  Plate           -2.805         1.190          4.575          0              90             0              65
  18  Fork            -2.480         0.901          2.441          0              180            0              69
  19  Bread           -0.314         0.957          3.133          0              0              0              71
  20  Apple           -0.228         0.956          3.334          0              0              0              71
  21  Lettuce         -2.831         0.378          4.352          0              90             0              65
  22  Spatula         -0.228         0.915          2.932          0              0              0              71
  23  Knife           -0.486         0.926          2.530          0              0              0              71
  24  Potato          -2.925         0.325          4.575          0              90             0              65
  25  Tomato          -2.892         0.964          2.573          0              0              0              69
  26  Cup             -0.249         1.773          0.205          0              0              0              47
  27  SaltShaker      -1.746         1.769          0.114          0              0              0              43
  28  PepperShaker    -0.326         0.658          0.300          0              0              0              37
  29  ButterKnife     -2.480         0.900          1.913          0              0              0              69
  30  SoapBottle      -1.248         1.773          0.297          0              0              0              45
  31  Pan             -0.250         0.926          4.651          0              0              0              50
  32  DishSponge      -2.549         0.935          3.488          0              0              0              55
  33  Pot             -0.535         0.928          4.274          0              0              0              52
  34  Spoon           -2.215         0.663          0.464          0              0              0              56
  35  Mug             -2.864         0.930          3.302          0              0              0              55
  36  Bowl            -0.244         1.015          0.235          0              0              0              67
  37  Drawer          -0.325         0.696          0.413          0              0              0
  38  Cabinet         -0.595         0.490          0.648          0              0              0
  39  Cabinet         -0.555         0.490          0.646          0              0              0
  40  Cabinet         -1.591         0.490          0.646          0              0              0
  41  Cabinet         -1.554         0.490          0.646          0              0              0
  42  Cabinet         -2.550         0.490          0.646          0              0              0
  43  Cabinet         -1.514         2.046          0.392          0              0              0
  44  Cabinet         -2.474         2.046          0.392          0              0              0
  45  Cabinet         -1.478         2.046          0.392          0              0              0
  46  Cabinet         -0.518         2.046          0.392          0              0              0
  47  Cabinet         -0.479         2.046          0.392          0              0              0
  48  CounterTop      -1.366         0.952          0.349          0              0              0
  49  Sink            -1.108         0.926          0.340          0              0              0
  50  StoveBurner     -0.254         0.922          4.672          0              0              0
  51  Drawer          -1.824         0.696          0.413          0              0              0
  52  StoveBurner     -0.535         0.922          4.274          0              0              0
  53  StoveBurner     -0.254         0.922          4.274          0              0              0
  54  StoveBurner     -0.536         0.922          4.672          0              0              0
  55  CounterTop      -2.780         0.971          3.487          0              0              0
  56  Drawer          -2.323         0.696          0.413          0              0              0
  57  StoveKnob       -0.064         1.090          4.632          0              0              73.865
  58  StoveKnob       -0.064         1.090          4.782          0              0              73.865
  59  StoveKnob       -0.064         1.090          4.382          0              0              73.865
  60  StoveKnob       -0.064         1.090          4.222          0              0              73.865
  61  Toaster         -0.286         0.861          3.520          0              270            0
  62  GarbageCan      -2.816         -0.014         0.370          358.702        26.614         2.400
  63  LightSwitch     -0.064         1.447          1.996          0              270            0
  64  Window          -3.075         1.593          1.361          90             90             0
  65  Fridge          -2.802         0.0            4.427          0              0              0
  66  SinkBasin       -1.106         0.785          0.337          0              0              0
  67  Microwave       -0.358         0.917          0.224          0              0              0
  68  CoffeeMachine   -2.938         0.925          3.605          0              90             0
  69  DiningTable     -2.733         -0.003         2.607          0              270            0
  70  Faucet          -1.077         0.920          0.028          270            270            0
  71  DiningTable     -0.488         -0.003         3.182          0              270            0
  72  NorthWall
  73  EastWall
  74  SouthWall
  75  WestWall

Plan:
STEP 1: Go to the long side of the white table on the right, then face the table.  | STEP 2: Take the knife from the table that is on the bowl. | STEP 3: Turn left, walk to the wall, then turn left and go to the refrigerator. | STEP 4: Cut the lettuce in the refrigerator. Close the refrigerator door. | STEP 5: Stay at the refrigerator. | STEP 6: Put the knife on the top shelf of the refrigerator. Close the refrigerator door. | STEP 7: Stay at the refrigerator. | STEP 8: Take a piece of lettuce. | STEP 9: Stay at the refrigerator. | STEP 10: Open the freezer. Put the lettuce on the blue plate in the freezer. | STEP 11: Take the plate from the freezer. | STEP 12: Turn left and go to the white table. | STEP 13: Put the plate near the top left hand corner of the metal bowl on the table. | END