Task: getting lettuce from fridge, washing it, placing on counter.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.25           0.900          -0.5           0              270            0
   1  Ladle           1.919          0.957          -1.329         0              0              0              62
   2  DishSponge      1.947          1.657          -1.737         0              270            0              52
   3  WineBottle      1.871          1.658          -1.479         0              270            0              52
   4  WineBottle      1.528          1.660          -2.124         0              0              0              49
   5  Spatula         0.180          0.945          0.762          0              180            0              79
   6  Spoon           1.647          0.914          -1.680         0              180            0              62
   7  Egg             -1.610         1.237          -0.910         0              90             0              70
   8  Egg             1.850          0.140          0.269          0              0              0              63
   9  Cup             -0.160         0.927          0.305          0              0              0              79
  10  Plate           -1.316         1.663          -1.729         0              90             0              45
  11  Plate           1.572          0.123          -1.332         0              270            0              56
  12  Tomato          -1.495         0.911          -1.013         0              90             0              70
  13  Tomato          1.872          0.138          0.006          0              0              0              63
  14  SaltShaker      1.359          0.549          2.638          0              0              0              88
  15  SaltShaker      1.738          0.909          -1.329         0              0              0              62
  16  PepperShaker    1.566          0.877          2.456          0              0              0              83
  17  PepperShaker    1.462          0.549          2.586          0              0              0              88
  18  Bread           0.066          0.975          1.220          0              0              0              79
  19  Bread           -1.495         1.228          -0.599         0              90             0              70
  20  Apple           0.408          0.997          1.448          0              0              0              79
  21  Potato          0.063          0.95           -0.048         0              285.000        0              79
  22  Bowl            -1.533         1.501          -0.910         0              90             0              70
  23  SoapBottle      1.359          0.551          2.482          0              0              0              82
  24  Fork            -0.963         0.914          -2.115         0              0              0              62
  25  Ladle           0.444          1.703          -2.162         0              0              0              51
  26  Bread           0.066          0.972          0.762          0              0              0              79
  27  Lettuce         -1.429         0.925          -0.542         0              315            0              70
  28  WineBottle      1.362          0.881          2.537          0              0              0              83
  29  Spatula         0.408          0.941          0.305          0              0              0              79
  30  Plate           1.670          0.556          2.534          0              0              0              88
  31  SaltShaker      -1.109         0.909          -2.224         0              0              0              62
  32  Pot             -0.117         0.921          1.5            0              0              0              79
  33  Cup             -0.720         0.913          -2.267         0              0              0              62
  34  PepperShaker    1.278          1.656          -2.200         0              0              0              49
  35  Pan             1.845          0.948          -0.757         0              0              0              59
  36  ButterKnife     -0.047         0.930          0.305          0              0              0              79
  37  Tomato          -1.572         1.556          -0.495         0              90             0              70
  38  DishSponge      0.180          0.930          0.534          0              0              0              79
  39  Egg             0.457          0.967          -1.834         0              0              0              62
  40  Spoon           0.180          0.931          0.991          0              180            0              79
  41  Knife           -0.047         0.953          0.534          0              0              0              79
  42  Mug             -0.824         0.908          -2.233         0              0              0              62
  43  StoveBurner     1.845          0.940          -0.355         0              0              0
  44  StoveBurner     1.567          0.940          -0.757         0              0              0
  45  Cabinet         -1.149         2.019          -1.979         0              90             0
  46  Cabinet         -1.149         2.265          -0.834         0              90             0
  47  Cabinet         -0.459         2.265          -2.0           0              0              0
  48  Cabinet         -1.100         2.019          -2.0           0              0              0
  49  Cabinet         1.719          2.019          -2.0           0              0              0
  50  Cabinet         1.179          2.019          -2.0           0              0              0
  51  Cabinet         0.199          2.019          -2.0           0              0              0
  52  Cabinet         1.75           2.019          -1.399         0              270            0
  53  Cabinet         1.75           2.019          -1.029         0              270            0
  54  Cabinet         1.379          0.469          -1.689         0              0              0
  55  Cabinet         -0.819         0.469          -1.689         0              0              0
  56  Cabinet         1.389          0.469          -1.059         0              270            0
  57  Cabinet         -0.839         0.469          -1.665         0              90             0
  58  StoveBurner     1.567          0.940          -0.355         0              0              0
  59  StoveBurner     1.845          0.940          -0.757         0              0              0
  60  Sink            -0.109         0.893          -2.009         0              0              0
  61  Drawer          -0.819         0.75           -1.690         0              0              0
  62  CounterTop      0.232          0.949          -2.002         0              0              0
  63  GarbageCan      1.855          -0.034         0.141          0              358.959        0
  64  Vase            0.251          0.546          0.475          0              270            0
  65  Toaster         0.780          0.900          -2.080         0              0              0
  66  LightSwitch     0.108          1.315          2.75           0              180            0
  67  Vase            0.400          0.925          0.218          0              180            0
  68  Microwave       -1.233         0.900          -1.680         0              90             0
  69  Vase            1.465          1.662          -2.200         0              0              0
  70  Fridge          -1.495         0.0            -0.703         0              0              0
  71  Window          2.114          1.495          1.072          90             270            0
  72  CoffeeMachine   1.374          0.899          -2.112         0              0              0
  73  Vase            0.333          0.546          1.272          0              270            0
  74  SinkBasin       -0.148         0.753          -2.026         0              0              0
  75  StoveKnob       2.037          1.089          -0.405         0              0              74.477
  76  StoveKnob       2.037          1.089          -0.251         0              0              74.477
  77  StoveKnob       2.037          1.089          -0.649         0              0              74.477
  78  StoveKnob       2.037          1.089          -0.814         0              0              74.477
  79  DiningTable     0.170          0.005          0.678          0              270            0
  80  Shelf           0.170          0.155          0.678          0              270            0
  81  Shelf           1.605          0.172          2.480          0              0              0
  82  Shelf           1.605          0.552          2.480          0              0              0
  83  Shelf           1.604          0.880          2.479          0              0              0
  84  ShelvingUnit    1.605          0.006          2.480          0              0              0
  85  Faucet          -0.143         1.028          -2.223         0              270            0
  86  Stool           -0.553         0.000          0.871          1.233          280.376        0
  87  Shelf           0.170          0.528          0.678          0              270            0
  88
  89  NorthWall
  90  EastWall
  91  SouthWall
  92  WestWall

Plan:
STEP 1: walk forward to fridge | STEP 2: open fridge, take out lettuce on second shelf, close fridge | STEP 3: turn to the left, walk forward slightly, turn to the left, walk forward slightly, turn to the right, walk forward to the sink | STEP 4: place lettuce in sink, turn on the water, fill sink with water, turn off water, let sink drain, pick up lettuce | STEP 5: turn to the right walk forward slightly, turn to the right walk forward, turn to the right walking forward to the white center island | STEP 6: Place lettuce on center island counter | END