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           -2.5           0.901          -2.75          0              180            0
   1  Potato          -3.182         1.057          -2.064         0              90             0              82
   2  ButterKnife     -3.393         0.913          -3.327         0              0              0              41
   3  ButterKnife     -0.095         0.916          -1.555         0              0              0              68
   4  Pot             -3.225         0.916          -3.126         0              0              0              41
   5  Pot             -0.376         0.975          -2.031         0              180            0              70
   6  Fork            -0.095         0.916          -1.370         0              180            0              68
   7  Egg             -0.065         1.048          -0.851         0              270            0              78
   8  Egg             -0.419         0.951          -0.490         0              0              0              68
   9  Plate           -3.292         0.715          -0.558         0              270            0              85
  10  Plate           -2.676         0.715          -0.483         0              225            0              85
  11  Knife           -2.270         0.946          -3.878         0              0              0              41
  12  Tomato          -0.223         0.129          0.055          0              270            0              80
  13  Tomato          -3.167         0.963          -3.655         0              0              0              41
  14  SoapBottle      -2.581         0.713          -0.683         0              270            0              85
  15  SoapBottle      -2.449         0.913          -3.655         0              0              0              41
  16  Bowl            -2.990         0.714          -0.780         0              0              0              85
  17  SaltShaker      -3.169         0.742          -2.968         0              0              0              63
  18  Bread           -2.753         0.754          -0.206         0              225            0              85
  19  Apple           -0.189         1.055          -0.851         0              270            0              78
  20  Pot             -0.854         0.916          -3.655         0              0              0              41
  21  Egg             -0.220         1.032          -0.999         0              270            0              78
  22  Cup             -2.652         0.717          -0.886         0              135            0              85
  23  Bread           -0.327         0.948          -3.681         0              298.222        0              41
  24  Fork            -2.987         0.914          -3.729         0              0              0              41
  25  Pan             -0.394         0.973          -2.414         0              0              0              66
  26  Potato          -2.723         0.757          -0.683         0              270            0              85
  27  Lettuce         -1.323         0.988          -3.758         1.039          253.596        356.130        41
  28  Tomato          -3.211         0.763          -0.753         0              225            0              85
  29  Apple           -0.160         0.956          -2.811         0              0              0              41
  30  SoapBottle      -0.014         0.915          -1.555         0              0              0              68
  31  Spatula         -1.914         0.805          -3.832         0              90             0              83
  32  SaltShaker      -3.313         1.288          -3.259         0              0              0              53
  33  Knife           -1.895         0.946          -3.522         0              0              0              41
  34  PepperShaker    -0.441         0.743          -1.408         0              0              0              64
  35  ButterKnife     -3.309         0.913          -2.825         0              0              0              41
  36  Plate           -0.338         0.914          -1.616         0              0              0              68
  37  DishSponge      -3.140         0.746          -2.857         0              0              0              63
  38  Spoon           -3.140         0.914          -3.327         0              180            0              41
  39  Mug             -3.286         1.393          -1.817         0              180            0              82
  40  Bowl            -3.130         1.396          -2.002         0              90             0              82
  41  CounterTop      -1.789         0.949          -3.803         0              0              0
  42  Cabinet         -0.577         0.388          -3.476         0              0              0
  43  Cabinet         -0.605         0.388          -3.511         0              0              0
  44  Cabinet         -2.976         0.388          -3.201         0              0              0
  45  Cabinet         -0.577         0.388          -0.447         0              0              0
  46  Cabinet         -0.577         0.388          -1.725         0              0              0
  47  Cabinet         -0.226         1.803          -1.743         0              0              0
  48  Cabinet         -0.228         1.799          -0.447         0              0              0
  49  Cabinet         -6.010         1.139          -6.019         0              0              0
  50  Cabinet         -3.022         2.098          -2.681         0              0              0
  51  Cabinet         -3.022         2.098          -1.743         0              0              0
  52  Cabinet         -0.577         0.388          -2.736         0              0              0
  53  Cabinet         -3.232         1.803          -3.343         0              0              0
  54  Cabinet         -2.811         1.810          -3.764         0              0              0
  55  Cabinet         -1.233         1.810          -3.764         0              0              0
  56  Cabinet         -1.364         0.388          -3.511         0              0              0
  57  Cabinet         -1.380         0.388          -3.511         0              0              0
  58  Cabinet         -0.226         1.803          -2.725         0              0              0
  59  Cabinet         -0.236         2.098          -1.767         0              0              0
  60  Cabinet         -0.236         2.098          -2.705         0              0              0
  61  Cabinet         -0.193         1.210          -4.239         0              0              0
  62  Cabinet         -2.148         0.388          -3.511         0              0              0
  63  Drawer          -3.104         0.797          -2.968         0              0              0
  64  Drawer          -0.449         0.797          -1.410         0              0              0
  65  Sink            -1.786         0.902          -3.748         0              0              0
  66  StoveBurner     -0.376         0.936          -2.451         0              0              0
  67  Drawer          -0.449         0.797          -0.762         0              0              0
  68  CounterTop      -0.268         0.951          -1.089         0              0              0
  69  Drawer          -0.449         0.797          -3.348         0              0              0
  70  StoveBurner     -0.376         0.936          -2.031         0              180            0
  71  Drawer          -0.449         0.797          -2.968         0              0              0
  72  StoveBurner     -0.165         0.936          -2.030         0              180            0
  73  StoveBurner     -0.165         0.936          -2.450         0              0              0
  74  StoveKnob       -0.568         0.903          -2.313         45             270            0
  75  StoveKnob       -0.568         0.903          -2.470         45             270            0
  76  StoveKnob       -0.568         0.903          -2.166         45             270            0
  77  StoveKnob       -0.568         0.903          -2.003         45             270            0
  78  Microwave       -0.143         0.903          -0.908         0              270            0
  79  LightSwitch     -1.108         1.457          0.338          0              180            0
  80  GarbageCan      -0.283         -0.032         -0.035         0              270            0
  81  CoffeeMachine   -3.104         0.837          -0.185         0              135            0
  82  Fridge          -3.188         0.0            -2.184         0              0              0
  83  SinkBasin       -1.786         0.779          -3.747         0              0              0
  84  Toaster         -0.230         0.903          -3.406         0              270            0
  85  DiningTable     -2.800         0.003          -0.505         0              0              0
  86  Chair           -3.044         0.003          -1.223         0              32.194         0
  87  Faucet          -1.791         1.136          -3.913         0              270            0
  88  NorthWall
  89  EastWall
  90  SouthWall
  91  WestWall

Plan:
STEP 1: Turn right to step forward to face the counter. | STEP 2: Pick up the knife on the counter. | STEP 3: Turn around and step forward to face the lettuce on the counter. | STEP 4: Cut the lettuce on the counter into slices. | STEP 5: Turn left and look down to face the right most cabinet. | STEP 6: Place the knife in the thin corner cabinet. | STEP 7: Turn right to face the sliced lettuce on the counter. | STEP 8: Pick up the sliced lettuce on the counter. | STEP 9: Take a step to the right to face the sink. | STEP 10: wash the lettuce slice in the sink and remove it. | STEP 11: Turn right and step forward to face the fridge. | STEP 12: Place the slice of lettuce in the fridge. | END