Task: Slice lettuce, rinse it, put it into the refrigerator.

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            0.930          0.25           0              0              0
   1  Potato          -1.052         1.036          1.258          0              90             0              111
   2  Potato          0.445          0.949          0.727          0              0              0              94
   3  Ladle           -0.991         0.363          1.605          0              90             0              98
   4  Ladle           0.710          0.945          0.527          0              0              0              94
   5  DishSponge      -0.232         1.263          -1.552         0              45             0              80
   6  DishSponge      3.113          1.464          -1.697         0              0              0              61
   7  ButterKnife     3.069          0.747          0.032          0              270            0              108
   8  ButterKnife     1.229          0.908          0.747          0              0              0              94
   9  Glassbottle     3.044          0.901          -0.798         0              0              0              62
  10  Glassbottle     0.059          0.901          -1.383         0              45             0              84
  11  Spatula         3.152          0.762          -0.100         0              0              0              108
  12  Spatula         -0.950         0.721          1.430          0              90             0              56
  13  Mug             3.253          0.172          0.559          0              0              0              72
  14  Lettuce         -0.789         0.965          0.176          0              0              0              63
  15  Lettuce         -0.775         0.965          -0.854         0              45             0              63
  16  SaltShaker      0.856          1.671          -1.341         0              0              0              78
  17  SaltShaker      3.044          1.460          -1.501         0              0              0              61
  18  PepperShaker    -0.950         0.703          0.751          0              0              0              67
  19  Bowl            1.098          0.905          0.464          0              0              0              94
  20  Bowl            3.122          0.897          -0.599         0              0              0              62
  21  Tomato          1.242          0.750          -1.381         0              0              0              109
  22  Egg             2.987          0.799          0.098          0              90             0              108
  23  Cup             3.249          1.462          -1.648         0              0              0              61
  24  Plate           3.084          0.188          -0.404         0              0              0              74
  25  Glassbottle     3.244          1.465          -1.137         0              0              0              77
  26  SoapBottle      0.101          0.909          -1.588         0              0              0              84
  27  Potato          0.929          1.111          -1.503         0              0              0              109
  28  Fork            1.491          0.908          0.464          0              0              0              94
  29  Ladle           0.665          1.711          -1.689         0              90             0              78
  30  Pot             3.031          1.464          -1.235         0              270            0              77
  31  Kettle          -0.239         0.902          -1.089         0              315            0              92
  32  Spatula         -0.950         0.341          -0.361         0              90             0              68
  33  Knife           -1.008         0.925          -0.047         0              0              0              63
  34  Lettuce         0.887          0.976          0.727          0              0              0              94
  35  Cup             -0.958         0.898          -0.874         0              45             0              63
  36  SaltShaker      -0.182         0.896          -1.347         0              45             0              84
  37  Egg             0.179          0.952          -1.445         0              0              0              84
  38  PepperShaker    0.513          0.508          -1.475         0              0              0              49
  39  ButterKnife     0.895          0.908          0.489          0              36.810         0              94
  40  Apple           0.533          0.981          0.928          0              0              0              94
  41  Pan             0.341          0.873          -1.649         0              167.065        0              84
  42  Bread           -0.862         0.979          0.399          0              0              0              63
  43  CellPhone       -0.659         0.704          -0.681         0              45             0              57
  44  DishSponge      3.101          0.100          1.573          0              225            0              104
  45  Tomato          0.497          0.947          0.421          0              36.810         0              94
  46  Spoon           0.710          0.909          0.827          0              0              0              94
  47  Bowl            0.719          0.908          0.254          0              36.810         0              94
  48  Mug             0.622          0.903          0.426          0              0              0              94
  49  Drawer          0.376          0.572          -1.509         0              0              0
  50  Drawer          3.020          0.769          -0.783         0              180            0
  51  Drawer          -0.860         0.577          1.429          0              0              0
  52  StoveBurner     -0.600         0.897          -1.090         0              135            0
  53  Drawer          0.376          0.191          -1.509         0              0              0
  54  Cabinet         1.402          1.874          -1.259         0              0              0
  55  Cabinet         -0.202         1.963          -1.328         0              0              0
  56  Drawer          -0.860         0.765          1.429          0              0              0
  57  Drawer          -0.677         0.765          -0.700         0              0              0
  58  StoveBurner     -0.420         0.897          -0.920         0              135            0
  59  Drawer          3.020          0.769          -0.407         0              180            0
  60  Drawer          -0.860         0.577          0.663          0              0              0
  61  Cabinet         2.819          1.768          -1.850         0              0              0
  62  CounterTop      3.111          0.936          0.019          0              0              0
  63  CounterTop      -1.007         0.935          -0.039         0              0              0
  64  Drawer          -0.860         0.385          0.663          0              0              0
  65  StoveBurner     -0.419         0.897          -1.269         0              315            0
  66  Drawer          -0.047         0.573          -1.324         0              0              0
  67  Drawer          -0.860         0.765          0.663          0              0              0
  68  Drawer          -0.860         0.385          -0.100         0              0              0
  69  Drawer          0.376          0.380          -1.509         0              0              0
  70  Drawer          -0.860         0.765          -0.100         0              0              0
  71  Drawer          0.376          0.765          -1.509         0              0              0
  72  Cabinet         2.849          0.419          0.409          0              0              0
  73  Drawer          -0.047         0.765          -1.324         0              0              0
  74  Cabinet         2.849          0.419          -0.610         0              0              0
  75  Cabinet         2.849          0.419          -0.959         0              0              0
  76  Cabinet         3.069          1.666          -0.709         0              0              0
  77  Cabinet         2.819          1.768          -1.047         0              0              0
  78  Cabinet         0.620          1.874          -1.259         0              0              0
  79  Cabinet         0.140          1.666          -1.559         0              0              0
  80  Cabinet         -0.189         1.666          -1.340         0              0              0
  81  Cabinet         -0.709         1.963          -0.819         0              0              0
  82  Cabinet         -0.920         1.665          -0.620         0              0              0
  83  Drawer          -0.860         0.190          -0.100         0              0              0
  84  CounterTop      0.133          0.935          -1.457         0              0              0
  85  Drawer          3.020          0.769          0.695          0              180            0
  86  Drawer          -0.677         0.577          -0.700         0              0              0
  87  Drawer          -0.860         0.190          1.429          0              0              0
  88  Drawer          -0.047         0.192          -1.324         0              0              0
  89  Drawer          -0.677         0.193          -0.700         0              0              0
  90  Drawer          -0.860         0.577          -0.100         0              0              0
  91  Sink            3.078          0.887          0.086          0              0              0
  92  StoveBurner     -0.239         0.897          -1.089         0              315            0
  93  Drawer          -0.860         0.190          0.663          0              0              0
  94  CounterTop      1.210          0.937          0.463          0              0              0
  95  Drawer          -0.047         0.381          -1.324         0              0              0
  96  Drawer          -0.677         0.387          -0.700         0              0              0
  97  Mirror          -1.295         1.630          0.045          0              0              0
  98  Drawer          -0.860         0.385          1.429          0              0              0
  99  HousePlant      3.196          0.891          -0.368         0              0              0
 100  StoveKnob       -0.090         0.790          -1.009         270            45             0
 101  StoveKnob       -0.280         0.790          -0.819         270            45             0
 102  StoveKnob       -0.180         0.790          -0.920         270            45             0
 103  StoveKnob       -0.370         0.790          -0.720         270            45             0
 104  GarbageCan      3.137          0.025          1.545          0              225            0
 105  Window          3.703          1.675          0.046          90             90             0
 106  CoffeeMachine   3.214          0.890          0.697          0              270            0
 107  LightSwitch     2.592          1.309          -1.880         0              0              0
 108  SinkBasin       3.069          0.736          0.108          0              90             0
 109  Fridge          1.008          0.029          -1.467         0              0              0
 110  Toaster         -1.035         0.873          -0.396         0              90             0
 111  Microwave       -1.034         0.874          1.428          0              90             0
 112  Faucet          3.305          0.886          0.094          270            180            0
 113  NorthWall
 114  EastWall
 115  SouthWall
 116  WestWall

Plan:
STEP 1: Turn left, move to the counter near the toaster. | STEP 2: Pick up the knife that is right of the toaster. | STEP 3: Turn right, move to the counter near the bread. | STEP 4: Slice the lettuce with the knife. | STEP 5: Turn left, move to in front of the refrigerator. | STEP 6: Place the knife on to the lowest shelf in the refrigerator. | STEP 7: Turn right, move to the counter near the bread. | STEP 8: Pick up a slice of lettuce. | STEP 9: Turn left, move to in front of the sink. | STEP 10: Place the slice of lettuce into the sink, rinse it, pick it back up. | STEP 11: Turn right, move to in front of the refrigerator. | STEP 12: Place the slice of lettuce on to the lowest shelf in the refrigerator. | END