Task: Wash a slice of cabbage and place on the spoon.

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          0.900          2.5            0              270            0
   1  Potato          -3.644         0.142          2.008          0              0              0              75
   2  Potato          -0.771         1.155          0.115          0              0              0              66
   3  Ladle           -2.011         1.164          0.379          0              0              0              64
   4  DishSponge      -0.771         1.124          0.387          0              0              0              66
   5  Pot             -3.506         1.566          2.920          0              90             0              71
   6  Fork            -0.415         1.047          2.369          0              0              0              54
   7  Fork            -0.771         1.125          0.659          0              0              0              66
   8  Spoon           -0.538         1.048          2.593          0              0              0              54
   9  Spoon           -0.785         1.049          3.042          0              0              0              54
  10  Spatula         -0.662         1.062          2.817          0              0              0              54
  11  Spatula         -2.388         1.139          0.190          0              180            0              64
  12  Egg             -3.572         1.316          3.061          0              90             0              71
  13  Cup             -3.887         1.122          0.284          0              0              0              61
  14  Plate           -0.908         1.045          2.593          0              0              0              54
  15  Knife           -2.011         1.157          0.190          0              0              0              64
  16  Knife           -1.288         0.963          0.359          0              0              0              76
  17  SoapBottle      -1.995         0.095          0.613          0              0              0              56
  18  SoapBottle      -0.939         1.125          0.569          0              0              0              66
  19  Bowl            -0.908         1.045          1.920          0              0              0              54
  20  SaltShaker      -2.088         0.899          0.612          0              0              0              62
  21  SaltShaker      -1.640         0.045          0.381          0              0              0              69
  22  Bread           -2.514         1.211          0.473          0              0              0              64
  23  Lettuce         -2.262         1.202          0.567          0              0              0              64
  24  Mug             -3.44          1.281          3.061          0              90             0              71
  25  Apple           -0.662         1.115          2.144          0              0              0              54
  26  Apple           -1.642         0.998          0.221          0              0              0              76
  27  Fork            -3.814         1.125          0.662          0              0              0              61
  28  SoapBottle      -0.292         1.047          1.920          0              0              0              54
  29  Pot             -3.475         1.133          0.48           0              90             0              52
  30  Ladle           -0.538         1.086          2.817          0              90             0              54
  31  Potato          -1.642         0.962          0.567          0              0              0              76
  32  Plate           -1.601         0.047          0.551          0              0              0              69
  33  Bread           -0.908         1.134          3.266          0              0              0              54
  34  Lettuce         -3.506         1.637          3.132          0              90             0              71
  35  Spatula         -2.388         1.139          0.379          0              90             0              64
  36  Pan             -3.000         1.133          0.227          0              270            0              68
  37  Egg             -1.663         1.184          0.082          0              0              0              51
  38  Cup             -1.465         0.929          0.636          0              0              0              76
  39  SaltShaker      -2.403         0.092          0.646          0              0              0              57
  40  Knife           -1.480         0.927          0.418          90             240.023        0              76
  41  Bowl            -1.195         0.047          0.608          0              0              0              58
  42  PepperShaker    -3.778         1.121          0.190          0              0              0              61
  43  ButterKnife     -1.288         0.931          0.567          0              0              0              76
  44  Apple           -0.662         1.115          3.042          0              0              0              54
  45  Tomato          -0.415         1.087          1.920          0              0              0              54
  46  DishSponge      -1.111         0.931          0.428          0              0              0              76
  47  Spoon           -0.168         1.049          2.144          0              0              0              54
  48  Mug             -0.538         1.042          3.266          0              0              0              54
  49  StoveKnob       -3.322         1.053          0.709          45             0              0
  50  StoveBurner     -3.474         1.097          0.227          0              180            0
  51  Sink            -1.394         0.982          0.439          0              0              0
  52  StoveBurner     -3.474         1.097          0.479          0              180            0
  53  StoveKnob       -3.164         1.053          0.709          45             0              0
  54  DiningTable     -0.620         0.017          2.486          0              0              0
  55  Drawer          -2.043         0.608          0.594          0              0              0
  56  Drawer          -2.043         0.216          0.594          0              0              0
  57  Drawer          -2.498         0.216          0.594          0              0              0
  58  Cabinet         -1.001         0.393          0.734          0              0              0
  59  StoveBurner     -3.000         1.097          0.480          0              0              0
  60  StoveKnob       -3.492         1.053          0.709          45             0              0
  61  CounterTop      -3.856         1.160          0.379          0              0              0
  62  Drawer          -2.043         0.937          0.599          0              0              0
  63  Drawer          -2.509         0.937          0.599          0              0              0
  64  CounterTop      -2.280         1.160          0.379          0              0              0
  65  StoveKnob       -2.985         1.053          0.709          45             0              0
  66  CounterTop      -0.514         1.160          0.492          0              0              0
  67  Drawer          -2.498         0.608          0.594          0              0              0
  68  StoveBurner     -3.000         1.097          0.227          0              0              0
  69  Cabinet         -1.733         0.393          0.734          0              0              0
  70  CoffeeMachine   -0.153         1.038          3.193          0              270            0
  71  Fridge          -3.519         0.0            2.717          0              90             0
  72  Window          -1.394         1.924          0.014          90             0              0
  73  Window          -3.266         1.924          0.014          90             0              0
  74  Toaster         -0.225         1.038          2.865          0              270            0
  75  GarbageCan      -3.696         0.002          2.008          0              0              0
  76  SinkBasin       -1.389         0.921          0.428          0              0              0
  77  Microwave       -0.366         1.113          0.430          0              0              0
  78  HousePlant      -2.155         1.101          0.169          0              332.897        0
  79  LightSwitch     -2.584         1.299          3.5            0              180            0
  80  Faucet          -1.393         1.373          0.168          0              270            0
  81  NorthWall
  82  SouthWall
  83  SouthWall

Plan:
STEP 1: Turn around, step forward, then turn right and go to the kitchen sink. | STEP 2: Pick up the knife with the yellow blade in the center of the sink. | STEP 3: Turn right, step forward, then turn left at the kitchen counter. | STEP 4: Slice the cabbage to the left of the ladle. | STEP 5: Turn left, step forward, then turn right to face the counter. | STEP 6: Stand the knife up on the counter to the right of the sink. | STEP 7: Return to the sliced cabbage. | STEP 8: Pick up the center slice of cabbage | STEP 9: Turn left and walk to the left edge of the sink. | STEP 10: Place the cabbage slice in the sink in front of the knife, turn on the water for a few seconds then turn off and pick up the cabbage. | STEP 11: Turn around, step forward, then turn right and walk to the kitchen table on the right. | STEP 12: Place the cabbage upright on the handle of the spoon. | END