Task: Put a chilled slice of lettuce 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           -2.0           0.900          3.0            0              0              0
   1  Potato          -3.798         0.142          2.038          0              0              0              71
   2  Potato          -2.262         1.155          0.567          0              0              0              60
   3  Ladle           -0.785         1.087          2.817          0              0              0              50
   4  DishSponge      -3.696         0.112          2.038          0              0              0              71
   5  Pot             -3.000         1.133          0.480          0              270            0              55
   6  Fork            -3.851         1.125          0.379          0              90             0              57
   7  Fork            -1.288         0.932          0.359          0              0              0              72
   8  Spoon           -2.088         0.903          0.578          0              0              0              58
   9  Cup             -1.885         1.122          0.662          0              0              0              60
  10  Cup             -3.639         0.909          3.061          0              90             0              67
  11  Plate           -0.883         1.123          0.206          0              0              0              62
  12  Plate           -0.908         1.046          2.593          0              0              0              50
  13  Knife           -2.137         1.157          0.473          0              0              0              60
  14  Knife           -0.785         1.080          3.042          0              0              0              50
  15  SoapBottle      -0.538         1.047          3.266          0              0              0              50
  16  Tomato          -0.908         1.087          2.369          0              0              0              50
  17  Tomato          -3.572         1.601          2.991          0              90             0              67
  18  Bowl            -1.562         0.046          0.381          0              0              0              65
  19  Bowl            -1.195         0.047          0.608          0              0              0              54
  20  SaltShaker      -0.662         1.044          2.593          0              0              0              50
  21  PepperShaker    -2.555         0.899          0.578          0              0              0              59
  22  Mug             -0.908         1.042          3.042          0              0              0              50
  23  Fork            -0.715         1.125          0.206          0              0              0              62
  24  SoapBottle      -1.156         0.049          0.324          0              0              0              54
  25  Pot             -3.475         1.133          0.227          0              90             0              46
  26  Ladle           -0.662         1.086          2.369          0              0              0              50
  27  Potato          -1.111         0.962          0.221          0              0              0              72
  28  Plate           -1.553         0.930          0.498          0              0              0              72
  29  Bread           -3.44          1.373          3.061          0              90             0              67
  30  Lettuce         -0.785         1.124          1.920          0              0              0              50
  31  Spatula         -0.538         1.063          3.042          0              0              0              50
  32  Pan             -0.266         1.038          2.561          0              0              0              50
  33  Egg             -3.639         1.590          3.132          0              90             0              67
  34  Cup             -0.908         1.046          2.144          0              0              0              50
  35  SaltShaker      -3.778         1.121          0.095          0              0              0              57
  36  Knife           -0.771         1.157          0.387          0              180            0              62
  37  Bowl            -3.572         0.909          2.849          0              90             0              67
  38  PepperShaker    -0.908         1.043          3.266          0              0              0              50
  39  ButterKnife     -0.662         1.047          2.144          0              0              0              50
  40  Apple           -1.288         0.998          0.567          0              0              0              72
  41  Tomato          -0.538         1.088          2.369          0              0              0              50
  42  DishSponge      -0.662         1.046          2.817          0              0              0              50
  43  Spoon           -1.473         1.154          0.121          0              0              0              47
  44  Mug             -0.883         1.119          0.569          0              0              0              62
  45  StoveKnob       -3.322         1.053          0.709          45             0              0
  46  StoveBurner     -3.474         1.097          0.227          0              180            0
  47  Sink            -1.394         0.982          0.439          0              0              0
  48  StoveBurner     -3.474         1.097          0.479          0              180            0
  49  StoveKnob       -3.164         1.053          0.709          45             0              0
  50  DiningTable     -0.620         0.017          2.486          0              0              0
  51  Drawer          -2.043         0.608          0.594          0              0              0
  52  Drawer          -2.043         0.216          0.594          0              0              0
  53  Drawer          -2.498         0.216          0.594          0              0              0
  54  Cabinet         -1.001         0.393          0.734          0              0              0
  55  StoveBurner     -3.000         1.097          0.480          0              0              0
  56  StoveKnob       -3.492         1.053          0.709          45             0              0
  57  CounterTop      -3.856         1.160          0.379          0              0              0
  58  Drawer          -2.043         0.937          0.599          0              0              0
  59  Drawer          -2.509         0.937          0.599          0              0              0
  60  CounterTop      -2.280         1.160          0.379          0              0              0
  61  StoveKnob       -2.985         1.053          0.709          45             0              0
  62  CounterTop      -0.514         1.160          0.492          0              0              0
  63  Drawer          -2.498         0.608          0.594          0              0              0
  64  StoveBurner     -3.000         1.097          0.227          0              0              0
  65  Cabinet         -1.733         0.393          0.734          0              0              0
  66  CoffeeMachine   -0.153         1.038          3.193          0              270            0
  67  Fridge          -3.519         0.0            2.717          0              90             0
  68  Window          -1.394         1.924          0.014          90             0              0
  69  Window          -3.266         1.924          0.014          90             0              0
  70  Toaster         -0.225         1.038          2.865          0              270            0
  71  GarbageCan      -3.696         0.002          2.008          0              0              0
  72  SinkBasin       -1.389         0.921          0.428          0              0              0
  73  Microwave       -0.366         1.113          0.430          0              0              0
  74  HousePlant      -2.155         1.101          0.169          0              332.897        0
  75  LightSwitch     -2.584         1.299          3.5            0              180            0
  76  Faucet          -1.393         1.373          0.168          0              270            0
  77  NorthWall
  78  SouthWall
  79  SouthWall

Plan:
STEP 1: Turn left for one step, turn left and walk straight to the counter and stop. | STEP 2: Pick up the large knife with a yellow handle. | STEP 3: Turn around and take four steps, turn right walk to the table. | STEP 4: Slice up the lettuce with the knife | STEP 5: Turn left for two steps, turn left again and go to the refrigerator | STEP 6: Open the refrigerator, put the knife on the on the second shelf of the fridge, on the left side of the shelf with the knife pointed to the right, then shut the doors. | STEP 7: Turn left for three steps, turn left and go to the table. | STEP 8: Pick up a slice of lettuce, the first thin slice from the left. | STEP 9: Turn left for three steps, turn left and go to the refrigerator. | STEP 10: Open the refrigerator put the lettuce slice on the top shelf directly above the knife and shut the door, wait a few seconds, open the fridge, take out the lettuce and shut the door. | STEP 11: Turn left for five steps, turn left for six steps and turn right to face the sink. | STEP 12: Place the lettuce slice on its edge in front of the potato in the sink. | END