Task: Preparing lettuce to put 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           1.25           0.900          1.0            0              0              0
   1  DishSponge      0.522          0.930          0.991          0              0              0              80
   2  DishSponge      1.913          1.657          -1.158         0              270            0              54
   3  ButterKnife     -0.210         0.764          -2.026         0              0              0              75
   4  WineBottle      1.850          0.914          -1.751         0              0              0              63
   5  Spatula         0.408          0.941          0.991          0              90             0              80
   6  Spatula         0.066          0.941          0.534          0              180            0              80
   7  Spoon           0.408          0.931          0.534          0              0              0              80
   8  Spoon           0.294          0.928          0.991          0              90             0              80
   9  Plate           0.294          0.930          0.076          0              0              0              80
  10  Tomato          -0.137         0.816          -2.026         0              0              0              75
  11  Tomato          -0.160         0.978          1.220          0              0              0              80
  12  SoapBottle      1.690          0.119          -1.528         0              270            0              55
  13  Bowl            1.528          1.656          -2.200         0              90             0              50
  14  Bowl            1.572          0.117          -1.200         0              270            0              57
  15  Bowl            0.180          0.927          0.991          0              0              0              80
  16  Lettuce         0.180          1.011          1.448          0              0              0              80
  17  SaltShaker      -0.668         0.909          -2.267         0              0              0              63
  18  SaltShaker      0.325          1.655          -2.162         0              0              0              52
  19  Bread           -0.047         0.972          0.762          0              0              0              80
  20  Apple           1.828          0.984          -1.212         0              0              0              63
  21  Apple           -1.495         1.575          -0.495         0              90             0              71
  22  Potato          1.829          0.115          0.006          0              0              0              64
  23  Bowl            0.522          0.927          0.305          0              0              0              80
  24  SoapBottle      1.958          0.085          0.160          0              0              0              64
  25  Fork            -0.963         0.914          -2.079         0              0              0              63
  26  Ladle           1.850          0.957          -2.002         0              0              0              63
  27  Bread           -0.047         0.975          0.305          0              0              0              80
  28  Lettuce         -1.429         0.925          -0.542         0              315            0              71
  29  WineBottle      -0.657         0.112          -1.961         0              0              0              56
  30  Spatula         -0.113         0.928          -1.725         0              0              0              63
  31  Plate           1.670          0.556          2.534          0              0              0              89
  32  SaltShaker      1.255          0.549          2.379          0              0              0              83
  33  Pot             1.567          0.948          -0.757         0              0              0              45
  34  Cup             0.081          0.764          -2.071         0              0              0              75
  35  PepperShaker    -1.355         1.655          -1.667         0              90             0              46
  36  Pan             1.824          0.945          -0.346         0              0              0              44
  37  ButterKnife     0.457          0.913          -2.169         0              0              0              63
  38  Tomato          -1.533         1.556          -0.806         0              90             0              71
  39  DishSponge      1.873          0.880          2.483          0              0              0              83
  40  Egg             -1.323         1.237          -0.910         0              90             0              71
  41  Spoon           -0.772         0.914          -2.233         0              90             0              63
  42  Knife           0.066          0.953          0.076          0              180            0              80
  43  Mug             1.871          1.652          -1.866         0              0              0              50
  44  StoveBurner     1.845          0.940          -0.355         0              0              0
  45  StoveBurner     1.567          0.940          -0.757         0              0              0
  46  Cabinet         -1.149         2.019          -1.979         0              90             0
  47  Cabinet         -1.149         2.265          -0.834         0              90             0
  48  Cabinet         -0.459         2.265          -2.0           0              0              0
  49  Cabinet         -1.100         2.019          -2.0           0              0              0
  50  Cabinet         1.719          2.019          -2.0           0              0              0
  51  Cabinet         1.179          2.019          -2.0           0              0              0
  52  Cabinet         0.199          2.019          -2.0           0              0              0
  53  Cabinet         1.75           2.019          -1.399         0              270            0
  54  Cabinet         1.75           2.019          -1.029         0              270            0
  55  Cabinet         1.379          0.469          -1.689         0              0              0
  56  Cabinet         -0.819         0.469          -1.689         0              0              0
  57  Cabinet         1.389          0.469          -1.059         0              270            0
  58  Cabinet         -0.839         0.469          -1.665         0              90             0
  59  StoveBurner     1.567          0.940          -0.355         0              0              0
  60  StoveBurner     1.845          0.940          -0.757         0              0              0
  61  Sink            -0.109         0.893          -2.009         0              0              0
  62  Drawer          -0.819         0.75           -1.690         0              0              0
  63  CounterTop      0.232          0.949          -2.002         0              0              0
  64  GarbageCan      1.855          -0.034         0.141          0              358.959        0
  65  Vase            0.251          0.546          0.475          0              270            0
  66  Toaster         0.780          0.900          -2.080         0              0              0
  67  LightSwitch     0.108          1.315          2.75           0              180            0
  68  Vase            0.400          0.925          0.218          0              180            0
  69  Microwave       -1.233         0.900          -1.680         0              90             0
  70  Vase            1.465          1.662          -2.200         0              0              0
  71  Fridge          -1.495         0.0            -0.703         0              0              0
  72  Window          2.114          1.495          1.072          90             270            0
  73  CoffeeMachine   1.374          0.899          -2.112         0              0              0
  74  Vase            0.333          0.546          1.272          0              270            0
  75  SinkBasin       -0.148         0.753          -2.026         0              0              0
  76  StoveKnob       2.037          1.089          -0.405         0              0              74.477
  77  StoveKnob       2.037          1.089          -0.251         0              0              74.477
  78  StoveKnob       2.037          1.089          -0.649         0              0              74.477
  79  StoveKnob       2.037          1.089          -0.814         0              0              74.477
  80  DiningTable     0.170          0.005          0.678          0              270            0
  81  Shelf           0.170          0.155          0.678          0              270            0
  82  Shelf           1.605          0.172          2.480          0              0              0
  83  Shelf           1.605          0.552          2.480          0              0              0
  84  Shelf           1.604          0.880          2.479          0              0              0
  85  ShelvingUnit    1.605          0.006          2.480          0              0              0
  86  Faucet          -0.143         1.028          -2.223         0              270            0
  87  Stool           -0.553         0.000          0.871          1.233          280.376        0
  88  Shelf           0.170          0.528          0.678          0              270            0
  89
  90  NorthWall
  91  EastWall
  92  SouthWall
  93  WestWall

Plan:
STEP 1: Turn around and move to the sink | STEP 2: Pick up the knife from under the tomato in the sink | STEP 3: Turn right towards the fridge | STEP 4: Open the fridge, cut the lettuce into slices, close the door | STEP 5: move slightly to the left | STEP 6: Open the fridge, put the knife in to the left of the lettuce then close door | STEP 7: Move slightly to the right again | STEP 8: Open fridge, take a slice of lettuce, close fridge | STEP 9: Turn around and go left around the island in the middle of the room and turn left to face the table | STEP 10: Put the lettuce in the bowl | STEP 11: Pick up the bowl with the lettuce inside | STEP 12: Go left around the island and back to the fridge | STEP 13: Open the fridge, put the bowl with the lettuce to the left of the knife and close the fridge | END