Task: To wash a slice of lettuce and place it on the kitchen table.

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          2.5            0              0              0
   1  ButterKnife     -0.785         1.048          3.042          0              0              0              43
   2  ButterKnife     -1.288         0.931          0.567          0              0              0              65
   3  Pot             -3.000         1.133          0.480          0              270            0              48
   4  Spoon           -0.415         1.048          2.593          0              0              0              43
   5  Cup             -3.572         1.284          3.061          0              90             0              60
   6  Plate           -0.538         1.046          2.144          0              0              0              43
   7  Tomato          -3.639         0.952          2.920          0              90             0              60
   8  Tomato          -3.747         0.153          2.008          0              0              0              64
   9  Bowl            -2.514         1.122          0.284          0              0              0              53
  10  Bowl            -0.662         1.045          3.042          0              0              0              43
  11  PepperShaker    -1.680         0.045          0.551          0              0              0              58
  12  Bread           -0.908         1.133          3.266          0              0              0              43
  13  Bread           -2.514         1.211          0.567          0              0              0              53
  14  Mug             -1.156         0.044          0.551          0              0              0              47
  15  Apple           -0.662         1.114          3.266          0              0              0              43
  16  Fork            -0.771         1.125          0.296          0              0              0              55
  17  SoapBottle      -0.827         1.125          0.387          0              0              0              55
  18  Pot             -3.475         1.133          0.48           0              90             0              41
  19  Ladle           -0.771         1.164          0.659          0              180            0              55
  20  Potato          -3.593         0.142          1.978          0              0              0              64
  21  Plate           -1.522         0.047          0.551          0              0              0              58
  22  Bread           -3.44          1.647          2.920          0              90             0              60
  23  Lettuce         -3.339         0.969          3.081          0              228.265        312.447        60
  24  Spatula         -1.199         0.946          0.428          0              270            0              65
  25  Pan             -0.266         1.038          2.561          0              0              0              43
  26  Egg             -2.639         1.155          0.284          0              0              0              53
  27  Cup             -1.195         0.047          0.664          0              0              0              47
  28  SaltShaker      -2.042         0.484          0.579          0              0              0              44
  29  Knife           -1.465         0.963          0.359          0              0              0              65
  30  Bowl            -0.908         1.045          2.593          0              0              0              43
  31  PepperShaker    -0.908         1.044          3.042          0              0              0              43
  32  ButterKnife     -3.814         1.124          0.473          0              90             0              50
  33  Apple           -0.538         1.114          2.593          0              0              0              43
  34  Tomato          -3.373         1.327          3.132          0              90             0              60
  35  DishSponge      -2.463         0.902          0.544          0              0              0              52
  36  Spoon           -2.137         1.126          0.379          0              90             0              53
  37  Mug             -0.377         1.094          3.194          0              270            0              59
  38  StoveKnob       -3.322         1.053          0.709          45             0              0
  39  StoveBurner     -3.474         1.097          0.227          0              180            0
  40  Sink            -1.394         0.982          0.439          0              0              0
  41  StoveBurner     -3.474         1.097          0.479          0              180            0
  42  StoveKnob       -3.164         1.053          0.709          45             0              0
  43  DiningTable     -0.620         0.017          2.486          0              0              0
  44  Drawer          -2.043         0.608          0.594          0              0              0
  45  Drawer          -2.043         0.216          0.594          0              0              0
  46  Drawer          -2.498         0.216          0.594          0              0              0
  47  Cabinet         -1.001         0.393          0.734          0              0              0
  48  StoveBurner     -3.000         1.097          0.480          0              0              0
  49  StoveKnob       -3.492         1.053          0.709          45             0              0
  50  CounterTop      -3.856         1.160          0.379          0              0              0
  51  Drawer          -2.043         0.937          0.599          0              0              0
  52  Drawer          -2.509         0.937          0.599          0              0              0
  53  CounterTop      -2.280         1.160          0.379          0              0              0
  54  StoveKnob       -2.985         1.053          0.709          45             0              0
  55  CounterTop      -0.514         1.160          0.492          0              0              0
  56  Drawer          -2.498         0.608          0.594          0              0              0
  57  StoveBurner     -3.000         1.097          0.227          0              0              0
  58  Cabinet         -1.733         0.393          0.734          0              0              0
  59  CoffeeMachine   -0.153         1.038          3.193          0              270            0
  60  Fridge          -3.519         0.0            2.717          0              90             0
  61  Window          -1.394         1.924          0.014          90             0              0
  62  Window          -3.266         1.924          0.014          90             0              0
  63  Toaster         -0.225         1.038          2.865          0              270            0
  64  GarbageCan      -3.696         0.002          2.008          0              0              0
  65  SinkBasin       -1.389         0.921          0.428          0              0              0
  66  Microwave       -0.366         1.113          0.430          0              0              0
  67  HousePlant      -2.155         1.101          0.169          0              332.897        0
  68  LightSwitch     -2.584         1.299          3.5            0              180            0
  69  Faucet          -1.393         1.373          0.168          0              270            0
  70  NorthWall
  71  SouthWall
  72  SouthWall

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