Task: To wash a slice of lettuce and place it in the fridge.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -2.0           0.900          -0.25          0              270            0
   1  Potato          -0.598         0.933          -1.119         0              47.530         0              71
   2  DishSponge      -2.848         1.794          -0.696         0              0              0              42
   3  Kettle          -2.622         0.928          -0.396         0              0              0              65
   4  Spoon           -2.671         0.747          -0.027         0              90             0              69
   5  Fork            -0.021         1.112          1.910          0              315            0              64
   6  Spatula         -2.521         0.926          0.190          0              90             0              63
   7  Plate           -0.443         1.664          -1.322         0              0              0              59
   8  Plate           -2.774         2.045          0.861          0              0              0              61
   9  Knife           0.221          1.134          1.499          0              45             0              64
  10  Knife           0.413          1.134          0.998          0              45             0              64
  11  SoapBottle      -2.728         0.038          1.431          0              0              0              82
  12  SoapBottle      -2.884         1.666          -0.099         0              0              0              57
  13  Bowl            -2.680         1.672          0.690          0              90             0              83
  14  Bowl            -2.860         1.672          1.013          0              90             0              83
  15  SaltShaker      0.759          1.108          0.652          0              315            0              64
  16  Bread           -2.800         0.432          0.932          0              90             0              83
  17  Bread           -2.800         0.874          0.690          0              90             0              83
  18  Mug             0.398          1.000          -1.414         0              90             0              84
  19  Apple           -2.800         0.430          0.609          0              90             0              83
  20  Pan             -2.59          0.9            -1.147         0              0              0              71
  21  Apple           0.765          0.963          -0.948         0              0              0              71
  22  Fork            0.254          0.748          -1.095         0              90             0              72
  23  Kettle          -2.236         0.912          -1.282         0              0              0              71
  24  CreditCard      0.997          0.9            -0.982         0              334.941        0              71
  25  Bread           0.765          0.965          -1.282         0              0              0              71
  26  Plate           -0.103         1.664          -1.322         0              0              0              58
  27  SoapBottle      0.663          1.112          0.902          0              315            0              64
  28  Spatula         1.317          1.126          0.864          0              45             0              64
  29  Lettuce         -2.660         0.874          0.983          31.046         0              0              83
  30  SaltShaker      -2.885         1.791          -0.483         0              0              0              43
  31  Tomato          0.203          1.152          1.056          0              0              0              64
  32  PepperShaker    -2.830         0.9            -0.112         0              0              0              63
  33  ButterKnife     -2.222         0.9            -0.997         0              323.977        0              71
  34  Pot             1.463          1.100          0.61           0              0              0              64
  35  DishSponge      -2.060         1.662          -1.284         0              0              0              46
  36  Egg             0.136          1.136          1.274          0              0              0              64
  37  Spoon           0.997          0.912          -1.282         0              0              0              71
  38  Knife           -1.332         0.872          -1.25          0              90             0              81
  39  Cup             -1.119         0.841          -1.241         0              0              0              81
  40  Mug             -2.680         1.668          1.094          0              180            0              83
  41  Bowl            0.990          1.110          0.883          0              315            0              64
  42  Cabinet         -2.647         2.075          -0.875         0              0              0
  43  Cabinet         -2.647         2.075          -0.234         0              0              0
  44  Cabinet         -0.824         0.469          -0.907         0              0              0
  45  Cabinet         -1.764         2.009          -1.197         0              0              0
  46  Cabinet         -1.834         2.009          -1.197         0              0              0
  47  Cabinet         -1.850         0.389          -0.897         0              0              0
  48  Cabinet         -1.801         0.469          -0.907         0              0              0
  49  Cabinet         1.115          2.009          -1.197         0              0              0
  50  Cabinet         0.235          2.009          -1.197         0              0              0
  51  Cabinet         1.125          0.470          -0.897         0              0              0
  52  Cabinet         -2.387         0.389          0.375          0              0              0
  53  Cabinet         0.484          0.389          -0.897         0              0              0
  54  Cabinet         -2.625         2.009          -1.197         0              0              0
  55  Cabinet         -2.647         2.009          -0.945         0              0              0
  56  Cabinet         -2.647         2.200          1.664          0              0              0
  57  Cabinet         -2.647         2.009          0.364          0              0              0
  58  Cabinet         0.164          2.009          -1.197         0              0              0
  59  Cabinet         -0.765         2.009          -1.197         0              0              0
  60  Cabinet         -0.834         2.009          -1.197         0              0              0
  61  Cabinet         -2.647         2.200          0.434          0              0              0
  62  StoveBurner     -2.622         0.886          -0.711         0              0              0
  63  CounterTop      -2.699         0.946          0.106          0              0              0
  64  CounterTop      0.908          1.147          0.788          0              315            0
  65  StoveBurner     -2.622         0.886          -0.396         0              0              0
  66  Drawer          -2.026         0.779          -1.082         0              0              0
  67  Sink            -1.328         0.916          -1.225         0              0              0
  68  StoveBurner     -2.822         0.886          -0.711         0              0              0
  69  Drawer          -2.572         0.779          0.099          0              0              0
  70  StoveBurner     -2.822         0.886          -0.396         0              0              0
  71  CounterTop      0.071          0.946          -1.199         0              0              0
  72  Drawer          0.254          0.779          -1.082         0              0              0
  73  LightSwitch     -1.167         1.307          3.0            0              180            0
  74  CoffeeMachine   1.124          1.100          0.312          0              227.685        0
  75  StoveKnob       -2.429         0.863          -0.621         311.864        270            180
  76  StoveKnob       -2.429         0.863          -0.477         311.864        270            180
  77  StoveKnob       -2.429         0.863          -0.782         311.864        270            180
  78  StoveKnob       -2.429         0.863          -0.324         311.864        270            180
  79  Window          0.321          1.449          3.088          90             0              0
  80  Toaster         -2.823         0.899          0.246          0              90             0
  81  SinkBasin       -1.344         0.838          -1.25          0              0              0
  82  GarbageCan      -2.757         1.886          1.466          0              0              0
  83  Fridge          -2.855         0.0            0.851          0              0              0
  84  Microwave       0.283          0.900          -1.331         0              0              0
  85  Stool           1.541          0.010          1.328          0              45             0
  86  Stool           0.983          0.010          1.793          0              47.459         0
  87  Faucet          -1.392         1.136          -1.399         0              270            0
  88  NorthWall
  89  EastWall
  90  SouthWall
  91  WestWall

Plan:
STEP 1: Turn left to face the counter. | STEP 2: Pick up the knife on the counter. | STEP 3: Turn around and walk forward and turn left to face the fridge. | STEP 4: Cut the lettuce in the fridge into slices. | STEP 5: Look up to face the fridge. | STEP 6: Place the knife in the fridge. | STEP 7: Look up to face the fridge. | STEP 8: Pick up the slice of lettuce in the fridge. | STEP 9: Turn left and walk forward to face the sink. | STEP 10: Wash the lettuce slice in the sink and remove it. | STEP 11: Turn around and walk to face the fridge. | STEP 12: Place the slice of lettuce in the fridge. | END