Task: Hold a knife in front of a closed fridge door.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.25          0.900          -0.5           0              270            0
   1  Potato          -1.852         0.800          -1.673         0              90             0              97
   2  Potato          -2.040         1.533          1.260          0              90             0              95
   3  Plate           -1.200         0.133          -2.453         0              0              0              80
   4  Plate           -0.059         1.108          -0.759         0              0              0              62
   5  Cup             0.217          1.109          -0.759         0              0              0              62
   6  Tomato          0.453          0.949          -2.253         0              0              0              64
   7  SaltShaker      -1.740         0.150          -0.342         0              90             0              85
   8  SaltShaker      -1.693         0.907          -2.256         0              0              0              87
   9  PepperShaker    -0.059         1.107          -0.253         0              0              0              62
  10  Bread           -1.774         0.983          -0.698         0              0              0              87
  11  Lettuce         0.355          1.191          0.251          0              0              0              62
  12  Lettuce         -0.197         1.191          0.757          0              0              0              62
  13  Lettuce         0.217          1.191          -0.001         0              0              0              62
  14  Apple           -1.982         1.356          1.092          0              90             0              95
  15  Apple           -0.197         1.162          -0.253         0              0              0              62
  16  Knife           0.217          1.136          -0.253         0              0              0              62
  17  Fork            0.355          1.112          -0.506         0              0              0              62
  18  Spoon           -0.197         1.112          -0.001         0              0              0              62
  19  Spoon           -1.694         0.479          -0.293         0              90             0              77
  20  Mug             -2.122         1.497          0.925          0              90             0              95
  21  Spatula         0.453          0.925          -2.637         0              90             0              64
  22  ButterKnife     -1.908         0.769          -1.587         0              90             0              97
  23  WineBottle      1.119          1.661          -2.564         0              0              0              84
  24  DishSponge      -1.852         0.769          -1.242         0              90             0              97
  25  DishSponge      -0.059         1.111          -0.506         0              0              0              62
  26  Bowl            -1.797         0.766          -1.501         0              90             0              97
  27  Book            -0.335         1.110          -0.759         0              0              0              62
  28  Glassbottle     0.324          0.911          -2.253         0              0              0              64
  29  Knife           -1.609         0.936          -1.309         0              90             0              87
  30  Bread           -0.522         1.170          -0.028         0              0              0              62
  31  Fork            -1.143         0.911          -2.637         0              0              0              87
  32  Potato          -1.995         0.828          0.920          0              90             0              95
  33  SoapBottle      -1.740         0.155          -0.053         0              90             0              85
  34  Kettle          0.840          0.911          -2.330         0              0              0              64
  35  Pan             -0.465         0.950          -2.576         0              90             0              71
  36  Plate           -2.038         0.537          0.920          0              90             0              95
  37  Tomato          -1.962         0.087          2.029          0              270            0              93
  38  Vase            2.042          0.540          -2.495         0              0              0              92
  39  Egg             -2.018         0.804          -1.760         0              90             0              97
  40  CreditCard      1.993          0.877          -2.563         0              180            0              89
  41  Statue          1.955          0.168          -2.543         0              0              0              94
  42  WineBottle      -1.104         0.137          -2.301         0              0              0              80
  43  Pot             -0.036         0.950          -2.372         0              270            0              57
  44  Spatula         0.217          1.126          -0.506         0              0              0              62
  45  PaperTowelRoll  -1.935         0.152          2.124          0              0              0              93
  46  Cup             -1.615         0.127          0.294          0              90             0              68
  47  Vase            0.355          1.109          0.504          0              0              0              62
  48  Bowl            0.582          0.907          -2.637         0              0              0              64
  49  SaltShaker      0.950          0.138          -2.286         0              0              0              82
  50  PepperShaker    -0.197         1.107          0.504          0              0              0              62
  51  Lettuce         -0.197         1.191          0.251          0              0              0              62
  52  ButterKnife     -1.693         0.911          -2.475         0              0              0              87
  53  Apple           -0.173         1.841          -2.610         0              0              0              88
  54  DishSponge      -1.855         0.135          -1.623         0              90             0              63
  55  Spoon           -1.852         0.770          -1.328         0              90             0              97
  56  Mug             -1.731         0.956          -0.168         0              90             0              96
  57  StoveBurner     -0.036         0.915          -2.372         0              0              0
  58  Drawer          0.949          0.832          -2.197         0              0              0
  59  Drawer          -1.560         0.839          0.204          0              90             0
  60  StoveBurner     -0.465         0.915          -2.371         0              180            0
  61  Drawer          -1.560         0.839          -0.197         0              90             0
  62  CounterTop      -0.079         1.147          -0.001         0              0              0
  63  Cabinet         -1.549         0.494          -1.964         0              90             0
  64  CounterTop      0.693          0.946          -2.483         0              0              0
  65  StoveBurner     -0.036         0.915          -2.576         0              0              0
  66  Drawer          0.949          0.393          -2.200         0              0              0
  67  Drawer          0.949          0.708          -2.200         0              0              0
  68  Cabinet         -1.549         0.494          0.379          0              90             0
  69  StoveKnob       -0.022         0.881          -2.187         45             0              0
  70  Drawer          0.949          0.560          -2.201         0              0              0
  71  StoveBurner     -0.465         0.915          -2.575         0              180            0
  72  Window          -2.230         1.429          -1.203         0              0              0
  73  StoveKnob       -0.483         0.881          -2.187         45             0              0
  74  Sink            -1.899         0.964          -1.5           0              90             0
  75  StoveKnob       -0.328         0.881          -2.187         45             0              0
  76  Cabinet         -0.727         2.015          -2.460         0              0              0
  77  Drawer          -1.560         0.655          -0.196         0              90             0
  78  Cabinet         -1.685         2.015          -2.461         0              0              0
  79  Cabinet         0.680          0.494          -2.200         0              0              0
  80  Cabinet         -1.179         0.494          -2.200         0              0              0
  81  Cabinet         -1.849         2.015          0.379          0              90             0
  82  Drawer          0.949          0.221          -2.200         0              0              0
  83  StoveKnob       -0.183         0.881          -2.187         45             0              0
  84  Cabinet         0.719          2.015          -2.460         0              0              0
  85  Drawer          -1.560         0.331          -0.196         0              90             0
  86  Cabinet         0.680          2.015          -2.460         0              0              0
  87  CounterTop      -1.868         0.946          -1.205         0              0              0
  88  Microwave       -0.236         1.689          -2.525         0              0              0
  89  Shelf           1.751          0.880          -2.560         0              0              0
  90  HousePlant      -1.948         0.889          -2.520         0              5.334          0
  91  Toaster         -1.835         0.900          0.134          0              90             0
  92  Shelf           1.750          0.552          -2.559         0              0              0
  93  GarbageCan      -1.935         -0.002         2.029          0              270            0
  94  Shelf           1.750          0.172          -2.559         0              0              0
  95  Fridge          -2.096         0.0            1.088          0              0              0
  96  CoffeeMachine   -1.977         0.900          -0.188         0              90             0
  97  SinkBasin       -1.908         0.759          -1.488         0              90             0
  98  LightSwitch     2.329          1.309          -0.159         0              270            0
  99  ShelvingUnit    1.750          0.006          -2.559         0              0              0
 100  Stool           0.702          0.000          -0.514         1.202          65.108         0
 101  Stool           0.743          0.000          0.563          1.227          106.706        0
 102  Faucet          -2.070         1.132          -1.514         0              0              0
 103  NorthWall
 104  EastWall
 105  SouthWall
 106  WestWall

Plan:
STEP 1: Turn left and walk around to the other side of the kitchen island. | STEP 2: Pick up the lettuce closest to you. | STEP 3: Turn around and take the lettuce to the fridge. | STEP 4: Open the fridge and put the lettuce on the top shelf to the right of the kiwi. Close the fridge door. | STEP 5: Turn left and walk to the sink. | STEP 6: Pick up the knife in the sink behind the kiwi. | STEP 7: Turn right and walk back to the fridge. | STEP 8: Open the fridge and pull the lettuce on the top shelf forward. | STEP 9: Place the knife horizontally on the top shelf in front of the lettuce. Close the door then open it again, then pick up the knife again. | STEP 10: Put the knife back down in front of the lettuce on the top shelf and close the door. | STEP 11: Turn around and face the kitchen island. | STEP 12: Pick up the lettuce to the right of the pepper on the island. | STEP 13: Turn around to take the lettuce to the fridge. | STEP 14: Open the fridge and place the lettuce on the second shelf to the right of the plate. | STEP 15: Pick up the knife from the top shelf and adjust the lettuce on the second shelf. | STEP 16: Close the door of the fridge. | END