Task: drop a cold lettuce head in the sink

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.5           0.900          0.75           0              180            0
   1  DishSponge      -2.206         0.910          1.830          0              0              0              76
   2  ButterKnife     -2.372         0.910          1.530          0              0              0              79
   3  Kettle          1.691          0.929          0.064          0              0              0              59
   4  Fork            0.292          0.911          -1.625         0              0              0              58
   5  Spoon           1.453          0.919          -1.069         0              225            0              62
   6  Spoon           -2.289         0.912          1.230          0              0              0              76
   7  Pot             1.411          0.929          0.064          0              0              0              77
   8  Egg             -2.559         0.625          -0.693         0              90             0              80
   9  Knife           -0.471         0.936          1.317          0              0              0              48
  10  Knife           1.256          0.945          -1.196         0              225            0              62
  11  SoapBottle      -2.484         1.585          -1.849         0              0              0              75
  12  SoapBottle      -2.645         1.539          2.768          0              0              0              52
  13  Bowl            -2.645         1.534          1.265          0              0              0              61
  14  Bowl            -0.341         0.908          1.094          0              0              0              48
  15  PepperShaker    -2.372         0.905          0.931          0              0              0              76
  16  PepperShaker    -2.521         1.533          0.846          0              0              0              72
  17  SaltShaker      1.771          1.651          0.387          0              0              0              67
  18  SaltShaker      -2.384         0.109          0.334          0              0              0              73
  19  Lettuce         1.442          1.001          -1.220         0              225            0              62
  20  Lettuce         -2.621         0.994          0.631          0              0              0              76
  21  Lettuce         -0.211         0.994          1.764          0              0              0              48
  22  Mug             -0.601         0.905          1.764          0              0              0              48
  23  Apple           1.442          0.972          -0.789         0              45             0              58
  24  Apple           -2.635         1.077          2.481          0              90             0              88
  25  Pan             0.0            0.9            0.948          0              29.999         0              48
  26  Knife           -0.471         0.936          1.540          0              0              0              48
  27  Apple           1.687          0.246          0.679          0              0              0              87
  28  Bowl            -2.485         1.297          -0.602         0              90             0              80
  29  Fork            -0.471         0.911          1.094          0              0              0              48
  30  Bread           -2.206         0.996          0.031          0              0              0              76
  31  Plate           -2.372         0.913          0.631          0              0              0              76
  32  Egg             -0.211         0.941          0.870          0              0              0              48
  33  Kettle          1.412          0.929          -0.335         0              0              0              49
  34  Potato          -2.439         1.336          -0.790         0              90             0              80
  35  SaltShaker      0.660          1.658          -1.802         0              90             0              55
  36  Lettuce         -0.341         0.994          0.647          0              0              0              48
  37  Cup             -2.669         0.176          -0.791         0              90             0              80
  38  SoapBottle      -2.599         1.539          1.984          0              0              0              60
  39  Spatula         -2.287         0.789          0.857          0              90             0              53
  40  PaperTowelRoll  -2.455         1.015          1.230          0              0              0              76
  41  ButterKnife     -2.538         0.910          0.031          0              0              0              76
  42  PepperShaker    0.048          0.905          1.764          0              0              0              48
  43  DishSponge      0.373          1.663          -1.729         0              90             0              55
  44  Pot             1.691          0.929          -0.335         0              0              0              56
  45  Spoon           -2.227         0.775          0.809          0              90             0              53
  46  Tomato          1.145          0.813          -1.376         0              225            0              86
  47  Mug             0.464          0.955          -1.593         0              0              0              58
  48  CounterTop      -0.360         0.946          1.093          0              0              0
  49  StoveBurner     1.412          0.923          -0.335         0              0              0
  50  StoveKnob       1.878          1.093          0.018          287.989        90             0
  51  StoveKnob       1.878          1.093          -0.306         287.989        90             0
  52  Cabinet         -2.446         1.948          2.924          0              0              0
  53  Drawer          -2.276         0.792          0.902          0              0              0
  54  Cabinet         -2.145         0.402          1.578          0              0              0
  55  Cabinet         0.149          2.008          -1.603         0              90             0
  56  StoveBurner     1.691          0.923          -0.335         0              0              0
  57  CounterTop      1.585          0.946          0.405          0              0              0
  58  CounterTop      0.474          0.946          -1.625         0              0              0
  59  StoveBurner     1.691          0.923          0.064          0              0              0
  60  Cabinet         -2.446         1.948          1.687          0              0              0
  61  Cabinet         -2.446         1.948          1.640          0              0              0
  62  Sink            1.381          0.810          -1.271         0              225            0
  63  StoveKnob       1.878          1.093          0.150          287.989        90             0
  64  Cabinet         -2.145         0.402          -0.236         0              0              0
  65  Drawer          -2.276         0.792          0.437          0              0              0
  66  Drawer          -2.276         0.792          -0.027         0              0              0
  67  Cabinet         1.572          2.008          0.474          0              0              0
  68  Cabinet         1.572          2.008          -0.775         0              0              0
  69  Cabinet         -2.445         2.148          -1.275         0              0              0
  70  Cabinet         -2.446         2.148          -0.284         0              0              0
  71  Cabinet         -2.446         1.948          0.355          0              0              0
  72  Cabinet         -2.446         1.948          0.405          0              0              0
  73  Cabinet         -2.145         0.402          0.644          0              0              0
  74  Cabinet         -2.145         0.402          0.695          0              0              0
  75  Cabinet         -2.285         1.968          -1.325         0              180            0
  76  CounterTop      -1.485         0.946          1.319          0              0              0
  77  StoveBurner     1.411          0.923          0.064          0              0              0
  78  StoveKnob       1.878          1.093          -0.441         287.989        90             0
  79  Drawer          -2.276         0.792          1.368          0              0              0
  80  Fridge          -2.475         0.0            -0.782         0              90             0
  81  LightSwitch     -0.929         1.350          -1.950         0              0              0
  82  Toaster         -2.564         0.900          1.876          0              90             0
  83  CoffeeMachine   0.464          0.900          -1.810         0              0              0
  84  Window          1.508          1.534          -1.496         90             135            0
  85  Window          1.973          1.521          1.121          90             90             0
  86  SinkBasin       1.149          0.753          -1.380         0              225            0
  87  GarbageCan      1.646          -0.000         0.679          0              0              0
  88  Microwave       -2.580         0.900          2.440          0              90             0
  89  Stool           0.439          0.010          0.747          0              0              0
  90  Stool           -2.303         0.010          1.839          0              0              0
  91  Faucet          1.235          1.138          -1.473         0              225            0
  92  NorthWall
  93  EastWall
  94  SouthWall
  95  WestWall

Plan:
STEP 1: turn left towards the sink | STEP 2: pick up the knife | STEP 3: move to the side of the sink | STEP 4: slice the lettuce at the side | STEP 5: move right to the sink | STEP 6: drop the knife in the sink | STEP 7: move left to the side of the sink | STEP 8: pick up the lettuce slice | STEP 9: turn around and head to the fridge | STEP 10: place the lettuce head to cool and then take it out | STEP 11: turn around and head for  the sink | STEP 12: drop the lettuce in the sink | END