Task: To clean a slice of lettuce plus store 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           -1.75          0.901          -2.5           0              90             0
   1  Pan             -0.165         0.975          -2.030         0              180            0              71
   2  Potato          -2.664         0.757          -0.294         0              225            0              84
   3  ButterKnife     -0.338         0.916          -0.542         0              0              0              67
   4  ButterKnife     -3.477         0.913          -3.428         0              0              0              40
   5  Fork            -3.054         0.714          -0.483         0              225            0              84
   6  Fork            -0.500         0.746          -3.079         0              90             0              70
   7  Egg             -0.257         0.951          -1.616         0              0              0              67
   8  Egg             -3.234         1.434          -1.941         0              90             0              81
   9  Plate           -3.346         0.911          -3.729         0              0              0              40
  10  SaltShaker      -0.095         0.912          -1.555         0              0              0              67
  11  SaltShaker      -0.721         1.289          -4.005         0              0              0              54
  12  PepperShaker    -2.588         1.291          -3.809         0              0              0              53
  13  Lettuce         -2.652         0.801          -0.886         0              135            0              84
  14  Lettuce         -3.066         0.804          -0.697         0              225            0              84
  15  Lettuce         -3.292         0.801          -0.495         0              270            0              84
  16  Mug             -2.930         0.763          -0.358         0              135            0              80
  17  Apple           -2.809         0.759          -0.640         0              135            0              84
  18  Apple           -0.127         1.055          -0.950         0              270            0              77
  19  Pot             -0.376         0.975          -2.451         0              0              0              65
  20  Egg             0.007          0.949          -2.811         0              0              0              40
  21  Cup             -3.393         0.914          -2.825         0              0              0              40
  22  Bread           -0.327         0.948          -3.681         0              298.222        0              40
  23  Fork            -2.439         0.714          -0.433         0              270            0              84
  24  Pan             -0.854         0.912          -3.952         0              90             0              40
  25  Potato          -1.776         0.834          -3.747         0              0              0              82
  26  Lettuce         -3.167         1.001          -3.878         0              0              0              40
  27  Tomato          -1.914         0.840          -3.832         0              0              0              82
  28  Apple           -3.140         0.956          -2.825         0              0              0              40
  29  SoapBottle      -1.569         0.082          -3.595         0              0              0              56
  30  Spatula         -2.865         0.731          -0.922         0              0              0              84
  31  SaltShaker      -0.176         0.912          -1.370         0              0              0              67
  32  Knife           -2.581         0.749          -0.621         0              180            0              84
  33  PepperShaker    -0.721         1.289          -3.927         0              0              0              54
  34  ButterKnife     -2.519         0.717          -0.753         0              135            0              84
  35  Plate           -3.079         1.397          -1.941         0              90             0              81
  36  DishSponge      -1.638         0.790          -3.747         0              0              0              82
  37  Spoon           -3.225         0.914          -3.327         0              0              0              40
  38  Mug             -0.338         0.911          -1.432         0              0              0              67
  39  Bowl            -3.182         0.638          -1.941         0              90             0              81
  40  CounterTop      -1.789         0.949          -3.803         0              0              0
  41  Cabinet         -0.577         0.388          -3.476         0              0              0
  42  Cabinet         -0.605         0.388          -3.511         0              0              0
  43  Cabinet         -2.976         0.388          -3.201         0              0              0
  44  Cabinet         -0.577         0.388          -0.447         0              0              0
  45  Cabinet         -0.577         0.388          -1.725         0              0              0
  46  Cabinet         -0.226         1.803          -1.743         0              0              0
  47  Cabinet         -0.228         1.799          -0.447         0              0              0
  48  Cabinet         -6.010         1.139          -6.019         0              0              0
  49  Cabinet         -3.022         2.098          -2.681         0              0              0
  50  Cabinet         -3.022         2.098          -1.743         0              0              0
  51  Cabinet         -0.577         0.388          -2.736         0              0              0
  52  Cabinet         -3.232         1.803          -3.343         0              0              0
  53  Cabinet         -2.811         1.810          -3.764         0              0              0
  54  Cabinet         -1.233         1.810          -3.764         0              0              0
  55  Cabinet         -1.364         0.388          -3.511         0              0              0
  56  Cabinet         -1.380         0.388          -3.511         0              0              0
  57  Cabinet         -0.226         1.803          -2.725         0              0              0
  58  Cabinet         -0.236         2.098          -1.767         0              0              0
  59  Cabinet         -0.236         2.098          -2.705         0              0              0
  60  Cabinet         -0.193         1.210          -4.239         0              0              0
  61  Cabinet         -2.148         0.388          -3.511         0              0              0
  62  Drawer          -3.104         0.797          -2.968         0              0              0
  63  Drawer          -0.449         0.797          -1.410         0              0              0
  64  Sink            -1.786         0.902          -3.748         0              0              0
  65  StoveBurner     -0.376         0.936          -2.451         0              0              0
  66  Drawer          -0.449         0.797          -0.762         0              0              0
  67  CounterTop      -0.268         0.951          -1.089         0              0              0
  68  Drawer          -0.449         0.797          -3.348         0              0              0
  69  StoveBurner     -0.376         0.936          -2.031         0              180            0
  70  Drawer          -0.449         0.797          -2.968         0              0              0
  71  StoveBurner     -0.165         0.936          -2.030         0              180            0
  72  StoveBurner     -0.165         0.936          -2.450         0              0              0
  73  StoveKnob       -0.568         0.903          -2.313         45             270            0
  74  StoveKnob       -0.568         0.903          -2.470         45             270            0
  75  StoveKnob       -0.568         0.903          -2.166         45             270            0
  76  StoveKnob       -0.568         0.903          -2.003         45             270            0
  77  Microwave       -0.143         0.903          -0.908         0              270            0
  78  LightSwitch     -1.108         1.457          0.338          0              180            0
  79  GarbageCan      -0.283         -0.032         -0.035         0              270            0
  80  CoffeeMachine   -3.104         0.837          -0.185         0              135            0
  81  Fridge          -3.188         0.0            -2.184         0              0              0
  82  SinkBasin       -1.786         0.779          -3.747         0              0              0
  83  Toaster         -0.230         0.903          -3.406         0              270            0
  84  DiningTable     -2.800         0.003          -0.505         0              0              0
  85  Chair           -3.044         0.003          -1.223         0              32.194         0
  86  Faucet          -1.791         1.136          -3.913         0              270            0
  87  NorthWall
  88  EastWall
  89  SouthWall
  90  WestWall

Plan:
STEP 1: Walk forward and to the left to face the end of the counter. | STEP 2: Pick up the knife on the counter. | STEP 3: Turn around and walk forward to face the kitchen table. | STEP 4: Cut the lettuce on the center of the kitchen table into slices. | STEP 5: Turn around and step forward and turn right to face the fridge. | STEP 6: Place the knife in the fridge. | STEP 7: Turn right and step forward to face the kitchen table. | STEP 8: Pick up a slice of lettuce on the kitchen table. | STEP 9: Turn around and walk across the room to face the sink. | STEP 10: Wash the lettuce in the sink and then remove it. | STEP 11: Turn right and walk forward to face the fridge. | STEP 12: Place the slice of lettuce in the fridge. | END