Task: Wash a head of lettuce and place 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           -1.25          0.899          5.0            0              270            0
   1  Pencil          -0.532         0.746          6.074          0              270            0              81
   2  DishSponge      -3.733         0.923          5.412          0              90             0              70
   3  DishSponge      -0.181         0.924          4.944          0              0              0              55
   4  ButterKnife     -3.852         0.923          5.412          0              90             0              70
   5  ButterKnife     -1.860         0.923          1.951          0              0              0              52
   6  Fork            -2.026         0.924          1.724          0              0              0              52
   7  Fork            -4.242         0.924          2.649          0              0              0              70
   8  Spatula         -0.411         0.940          4.615          0              180            0              55
   9  Cup             -0.454         1.069          3.231          0              270            0              103
  10  Plate           -2.635         1.547          1.666          0              0              0              100
  11  Plate           -4.184         0.924          4.381          0              90             0              70
  12  Knife           -0.334         0.954          5.273          0              0              0              55
  13  Knife           -1.777         0.953          1.724          0              0              0              52
  14  Tomato          -4.411         0.980          4.640          0              90             0              70
  15  SaltShaker      -0.443         0.742          5.841          0              270            0              49
  16  PepperShaker    -4.028         1.452          1.735          0              45             0              71
  17  Lettuce         -0.242         1.165          3.231          0              90             0              103
  18  Lettuce         -4.172         1.018          2.300          0              0              0              70
  19  Lettuce         -0.258         1.020          5.273          0              0              0              55
  20  Egg             -0.411         0.960          4.944          0              0              0              55
  21  Apple           -0.301         1.389          3.726          0              270            0              103
  22  Knife           -4.312         0.953          2.416          0              90             0              70
  23  Potato          -0.342         1.614          3.409          0              270            0              103
  24  Fork            -0.181         0.925          4.615          0              180            0              55
  25  Bowl            -0.301         1.332          3.231          0              270            0              103
  26  Plate           -3.866         1.459          5.475          0              90             0              74
  27  Lettuce         -2.026         1.018          1.951          0              0              0              52
  28  Bread           -4.234         0.990          3.985          0              0              0              70
  29  Tomato          -3.712         0.125          6.457          0              270            0              96
  30  WineBottle      -4.031         0.924          1.799          0              0              0              70
  31  Spatula         -1.943         0.938          2.026          0              180            0              52
  32  PaperTowelRoll  -1.860         1.027          1.573          0              0              0              52
  33  Cup             -4.064         0.082          3.175          0              0              0              83
  34  Pencil          -0.473         0.747          6.152          0              270            0              81
  35  Pan             -2.467         0.930          2.012          0              0              0              58
  36  Pot             -2.924         0.930          2.012          0              0              0              53
  37  SaltShaker      -0.181         0.921          5.932          0              0              0              81
  38  SoapBottle      -0.565         0.924          6.591          0              0              0              55
  39  PepperShaker    -3.264         0.743          5.192          0              180            0              82
  40  ButterKnife     -3.613         0.923          5.336          0              90             0              70
  41  DishSponge      -3.748         0.068          6.292          0              270            0              96
  42  Spoon           -1.938         0.747          1.956          0              0              0              68
  43  Mug             -0.409         0.955          6.557          0              270            0              91
  44  Cabinet         -3.203         1.931          1.777          0              0              0
  45  Cabinet         -3.187         0.390          2.089          0              0              0
  46  Cabinet         -0.637         0.387          6.882          0              180            0
  47  Drawer          -3.797         0.781          1.961          0              0              0
  48  Cabinet         -3.036         0.387          5.029          0              90             0
  49  Drawer          -0.509         0.775          5.268          0              270            0
  50  Drawer          -4.125         0.798          2.499          0              0              0
  51  Cabinet         -0.331         2.249          4.308          0              180            0
  52  CounterTop      -1.872         0.958          1.799          0              0              0
  53  StoveBurner     -2.924         0.924          2.012          0              0              0
  54  Cabinet         -0.331         2.249          6.806          0              180            0
  55  CounterTop      -0.345         0.960          5.603          0              0              0
  56  Cabinet         -3.039         1.935          5.321          0              90             0
  57  Cabinet         -3.922         0.397          2.088          0              0              0
  58  StoveBurner     -2.467         0.924          2.012          0              0              0
  59  Cabinet         -0.331         2.249          5.505          0              180            0
  60  Drawer          -0.509         0.775          4.617          0              270            0
  61  Drawer          -3.509         0.777          5.157          0              180            0
  62  Cabinet         -3.961         0.388          2.878          0              0              0
  63  Cabinet         -3.961         0.388          4.342          0              0              0
  64  Cabinet         -0.637         0.387          5.582          0              180            0
  65  Cabinet         -0.637         0.388          4.299          0              180            0
  66  Cabinet         -0.637         0.388          5.599          0              180            0
  67  StoveBurner     -2.924         0.924          1.712          0              180            0
  68  Drawer          -1.859         0.775          1.961          0              0              0
  69  Cabinet         -0.331         2.249          5.609          0              180            0
  70  CounterTop      -4.260         0.958          4.943          0              90             0
  71  Cabinet         -4.284         1.931          2.226          0              0              0
  72  Cabinet         -0.331         2.249          3.010          0              180            0
  73  Drawer          -3.801         0.777          5.157          0              180            0
  74  Cabinet         -4.112         1.935          5.321          0              90             0
  75  Cabinet         -3.968         0.388          3.662          0              0              0
  76  Drawer          -3.418         0.777          1.961          0              0              0
  77  Drawer          -4.090         0.777          4.661          0              90             0
  78  Faucet          -4.441         0.909          3.288          270            0              0
  79  Cabinet         -0.331         2.249          4.207          0              180            0
  80  Cabinet         -3.961         0.388          2.119          0              0              0
  81  Drawer          -0.509         0.775          5.920          0              270            0
  82  Drawer          -3.193         0.777          5.157          0              180            0
  83  Cabinet         -3.968         0.388          2.894          0              0              0
  84  Cabinet         -3.667         0.387          5.029          0              90             0
  85  StoveBurner     -2.469         0.924          1.712          0              270            0
  86  Cabinet         -1.539         0.388          2.090          0              0              0
  87  Sink            -4.190         0.921          3.279          0              0              0
  88  Cabinet         -3.641         0.387          5.029          0              90             0
  89  Cabinet         -1.583         1.931          1.777          0              0              0
  90  Drawer          -0.509         0.775          6.568          0              270            0
  91  CoffeeMachine   -0.279         0.912          6.556          0              270            0
  92  StoveKnob       -2.347         1.095          1.560          288.012        180            180
  93  StoveKnob       -2.788         1.095          1.560          288.012        180            180
  94  StoveKnob       -2.965         1.095          1.560          288.012        180            180
  95  StoveKnob       -2.512         1.095          1.560          288.012        180            180
  96  GarbageCan      -3.711         -0.030         6.376          0              270            0
  97  Toaster         -3.578         0.912          1.763          0              0              0
  98  Curtains        -4.522         2.252          3.391          90             90             0
  99  Window          -4.868         1.629          3.309          90             270            0
 100  Microwave       -2.693         1.430          1.689          0              0              0
 101  LightSwitch     -1.588         1.169          1.506          0              0              0
 102  SinkBasin       -4.196         0.780          3.276          0              270            0
 103  Fridge          -0.324         -0.001         3.602          0              0              0
 104  NorthWall
 105  EastWall
 106  SouthWall
 107  WestWall

Plan:
STEP 1: Step forward, turn left and walk to the kitchen counter, then turn right and go to the counter corner. | STEP 2: Pick up the head of lettuce to the left of the knife. | STEP 3: Turn right and walk to the kitchen sink on the left. | STEP 4: Put the lettuce in the sink and turn on the water for a few seconds and then turn off the water. | STEP 5: Pick up the lettuce, turn around and go to the fridge. | STEP 6: Open the fridge door and place the lettuce inside, then close the door. | END