Task: Wash off cabbage and put in 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          0.901          -0.5           0              180            0
   1  Potato          -0.338         0.959          -1.370         0              0              0              65
   2  Potato          -1.914         0.834          -3.747         0              0              0              80
   3  DishSponge      -1.776         0.790          -3.747         0              0              0              80
   4  DishSponge      -0.095         0.915          -1.432         0              0              0              65
   5  Pot             -0.447         0.916          -3.655         0              0              0              38
   6  Spatula         -3.140         0.928          -3.227         0              0              0              38
   7  Spatula         -0.244         0.928          -2.911         0              180            0              38
   8  Fork            -2.629         0.914          -3.804         0              0              0              38
   9  Fork            -0.382         0.746          -3.079         0              90             0              68
  10  Cup             -2.723         0.717          -0.496         0              270            0              82
  11  Cup             -1.115         0.080          -3.635         0              0              0              53
  12  SaltShaker      -0.472         0.742          -3.406         0              0              0              66
  13  Lettuce         -2.581         0.804          -0.621         0              270            0              82
  14  Lettuce         -3.182         0.729          -2.002         0              90             0              79
  15  Mug             -3.079         1.008          -2.187         0              90             0              79
  16  Apple           -0.096         1.055          -0.802         0              270            0              75
  17  Pot             -0.165         0.975          -2.030         0              180            0              69
  18  Egg             -2.678         0.752          -0.922         0              0              0              82
  19  Cup             -3.079         1.399          -2.125         0              90             0              79
  20  Bread           -0.412         0.954          -3.012         0              0              0              38
  21  Fork            -0.095         0.916          -1.370         0              0              0              65
  22  Pan             -0.394         0.973          -2.414         0              0              0              63
  23  Potato          -3.150         0.757          -0.620         0              270            0              82
  24  Lettuce         -2.990         0.804          -0.780         0              0              0              82
  25  Tomato          -0.244         0.963          -2.811         0              0              0              38
  26  Apple           -0.257         0.958          -0.490         0              0              0              65
  27  SoapBottle      -0.039         0.913          -3.804         0              0              0              38
  28  Spatula         -0.176         0.930          -1.616         0              0              0              65
  29  SaltShaker      -0.502         0.742          -3.288         0              0              0              66
  30  Knife           -0.530         0.778          -0.609         0              270            0              64
  31  PepperShaker    -0.382         0.743          -0.912         0              0              0              64
  32  ButterKnife     -0.419         0.916          -1.493         0              0              0              65
  33  Plate           -1.058         0.911          -3.878         0              0              0              38
  34  DishSponge      -3.324         1.867          -1.974         0              0              0              48
  35  Spoon           -2.439         0.718          -0.558         0              90             0              82
  36  Mug             -2.930         0.762          -0.358         0              135            0              78
  37  Bowl            -0.732         0.079          -3.714         0              0              0              40
  38  CounterTop      -1.789         0.949          -3.803         0              0              0
  39  Cabinet         -0.577         0.388          -3.476         0              0              0
  40  Cabinet         -0.605         0.388          -3.511         0              0              0
  41  Cabinet         -2.976         0.388          -3.201         0              0              0
  42  Cabinet         -0.577         0.388          -0.447         0              0              0
  43  Cabinet         -0.577         0.388          -1.725         0              0              0
  44  Cabinet         -0.226         1.803          -1.743         0              0              0
  45  Cabinet         -0.228         1.799          -0.447         0              0              0
  46  Cabinet         -6.010         1.139          -6.019         0              0              0
  47  Cabinet         -3.022         2.098          -2.681         0              0              0
  48  Cabinet         -3.022         2.098          -1.743         0              0              0
  49  Cabinet         -0.577         0.388          -2.736         0              0              0
  50  Cabinet         -3.232         1.803          -3.343         0              0              0
  51  Cabinet         -2.811         1.810          -3.764         0              0              0
  52  Cabinet         -1.233         1.810          -3.764         0              0              0
  53  Cabinet         -1.364         0.388          -3.511         0              0              0
  54  Cabinet         -1.380         0.388          -3.511         0              0              0
  55  Cabinet         -0.226         1.803          -2.725         0              0              0
  56  Cabinet         -0.236         2.098          -1.767         0              0              0
  57  Cabinet         -0.236         2.098          -2.705         0              0              0
  58  Cabinet         -0.193         1.210          -4.239         0              0              0
  59  Cabinet         -2.148         0.388          -3.511         0              0              0
  60  Drawer          -3.104         0.797          -2.968         0              0              0
  61  Drawer          -0.449         0.797          -1.410         0              0              0
  62  Sink            -1.786         0.902          -3.748         0              0              0
  63  StoveBurner     -0.376         0.936          -2.451         0              0              0
  64  Drawer          -0.449         0.797          -0.762         0              0              0
  65  CounterTop      -0.268         0.951          -1.089         0              0              0
  66  Drawer          -0.449         0.797          -3.348         0              0              0
  67  StoveBurner     -0.376         0.936          -2.031         0              180            0
  68  Drawer          -0.449         0.797          -2.968         0              0              0
  69  StoveBurner     -0.165         0.936          -2.030         0              180            0
  70  StoveBurner     -0.165         0.936          -2.450         0              0              0
  71  StoveKnob       -0.568         0.903          -2.313         45             270            0
  72  StoveKnob       -0.568         0.903          -2.470         45             270            0
  73  StoveKnob       -0.568         0.903          -2.166         45             270            0
  74  StoveKnob       -0.568         0.903          -2.003         45             270            0
  75  Microwave       -0.143         0.903          -0.908         0              270            0
  76  LightSwitch     -1.108         1.457          0.338          0              180            0
  77  GarbageCan      -0.283         -0.032         -0.035         0              270            0
  78  CoffeeMachine   -3.104         0.837          -0.185         0              135            0
  79  Fridge          -3.188         0.0            -2.184         0              0              0
  80  SinkBasin       -1.786         0.779          -3.747         0              0              0
  81  Toaster         -0.230         0.903          -3.406         0              270            0
  82  DiningTable     -2.800         0.003          -0.505         0              0              0
  83  Chair           -3.044         0.003          -1.223         0              32.194         0
  84  Faucet          -1.791         1.136          -3.913         0              270            0
  85  NorthWall
  86  EastWall
  87  SouthWall
  88  WestWall

Plan:
STEP 1: Turn right, walk to wall, turn right | STEP 2: Pick up cabbage off of table | STEP 3: Turn right, walk forward, turn right, walk forward to sink | STEP 4: Place cabbage in sink, turn on water, turn off water, pick up cabbage | STEP 5: Turn around, walk forward, turn left at fridge, walk forward to fridge | STEP 6: Open fridge, put cabbage in fridge, close fridge | END