Task: Place chilled lettuce in a sink

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.0           0.899          5.75           0              90             0
   1  Pan             -2.469         0.930          1.712          0              270            0              84
   2  Pencil          -4.451         0.923          2.416          0              0              0              69
   3  DishSponge      -4.108         0.923          4.122          0              90             0              69
   4  Pot             -2.924         0.930          1.712          0              180            0              66
   5  Fork            -0.258         0.925          5.932          0              90             0              54
   6  Spatula         -4.451         0.938          2.766          0              270            0              69
   7  Cup             -0.242         2.132          3.544          0              180            0              71
   8  Egg             -3.712         0.104          6.375          0              270            0              95
   9  Egg             -2.688         1.582          1.666          0              0              0              99
  10  Knife           -4.411         0.953          4.900          0              180            0              69
  11  Knife           -0.181         0.954          4.944          0              0              0              54
  12  SoapBottle      -3.474         0.082          5.190          0              90             0              87
  13  Tomato          -4.233         0.848          3.222          0              270            0              101
  14  Bread           -1.610         1.003          1.8            0              0              0              51
  15  Mug             -1.943         0.918          1.573          0              0              0              51
  16  Mug             -4.411         0.918          4.640          0              90             0              62
  17  Apple           -0.259         1.739          3.915          0              270            0              102
  18  Apple           -0.401         1.124          3.850          0              270            0              102
  19  Egg             -0.342         1.721          3.915          0              270            0              102
  20  Apple           -2.530         1.599          1.731          0              0              0              99
  21  Knife           -0.334         0.954          4.615          0              0              0              54
  22  Potato          -4.102         0.956          2.766          0              0              0              69
  23  Fork            -4.517         0.924          3.315          0              90             0              69
  24  Bowl            -0.181         0.922          5.273          0              0              0              54
  25  Plate           -4.057         1.457          1.810          0              45             0              70
  26  Lettuce         -4.191         1.003          2.538          0              278.173        0              69
  27  Bread           -1.860         1.003          1.8            0              0              0              51
  28  Tomato          -0.259         1.392          3.231          0              270            0              102
  29  WineBottle      -3.675         0.069          6.457          0              270            0              95
  30  Spatula         -4.517         0.938          3.548          0              90             0              69
  31  PaperTowelRoll  -2.109         1.027          1.951          0              0              0              51
  32  Cup             -4.196         0.789          3.410          0              270            0              101
  33  Pencil          -3.748         0.068          6.333          0              270            0              95
  34  Pan             -0.295         1.070          3.602          0              0              0              102
  35  Pot             -2.924         0.930          2.012          0              0              0              52
  36  SaltShaker      -3.135         0.919          5.182          0              90             0              81
  37  SoapBottle      -2.109         0.923          1.875          0              0              0              51
  38  PepperShaker    -1.938         0.743          2.015          0              0              0              67
  39  ButterKnife     -4.108         0.923          4.381          0              90             0              69
  40  DishSponge      -4.093         0.077          2.246          0              0              0              79
  41  Spoon           -1.693         0.924          1.951          0              0              0              51
  42  Mug             -2.530         1.541          1.601          0              90             0              99
  43  Cabinet         -3.203         1.931          1.777          0              0              0
  44  Cabinet         -3.187         0.390          2.089          0              0              0
  45  Cabinet         -0.637         0.387          6.882          0              180            0
  46  Drawer          -3.797         0.781          1.961          0              0              0
  47  Cabinet         -3.036         0.387          5.029          0              90             0
  48  Drawer          -0.509         0.775          5.268          0              270            0
  49  Drawer          -4.125         0.798          2.499          0              0              0
  50  Cabinet         -0.331         2.249          4.308          0              180            0
  51  CounterTop      -1.872         0.958          1.799          0              0              0
  52  StoveBurner     -2.924         0.924          2.012          0              0              0
  53  Cabinet         -0.331         2.249          6.806          0              180            0
  54  CounterTop      -0.345         0.960          5.603          0              0              0
  55  Cabinet         -3.039         1.935          5.321          0              90             0
  56  Cabinet         -3.922         0.397          2.088          0              0              0
  57  StoveBurner     -2.467         0.924          2.012          0              0              0
  58  Cabinet         -0.331         2.249          5.505          0              180            0
  59  Drawer          -0.509         0.775          4.617          0              270            0
  60  Drawer          -3.509         0.777          5.157          0              180            0
  61  Cabinet         -3.961         0.388          2.878          0              0              0
  62  Cabinet         -3.961         0.388          4.342          0              0              0
  63  Cabinet         -0.637         0.387          5.582          0              180            0
  64  Cabinet         -0.637         0.388          4.299          0              180            0
  65  Cabinet         -0.637         0.388          5.599          0              180            0
  66  StoveBurner     -2.924         0.924          1.712          0              180            0
  67  Drawer          -1.859         0.775          1.961          0              0              0
  68  Cabinet         -0.331         2.249          5.609          0              180            0
  69  CounterTop      -4.260         0.958          4.943          0              90             0
  70  Cabinet         -4.284         1.931          2.226          0              0              0
  71  Cabinet         -0.331         2.249          3.010          0              180            0
  72  Drawer          -3.801         0.777          5.157          0              180            0
  73  Cabinet         -4.112         1.935          5.321          0              90             0
  74  Cabinet         -3.968         0.388          3.662          0              0              0
  75  Drawer          -3.418         0.777          1.961          0              0              0
  76  Drawer          -4.090         0.777          4.661          0              90             0
  77  Faucet          -4.441         0.909          3.288          270            0              0
  78  Cabinet         -0.331         2.249          4.207          0              180            0
  79  Cabinet         -3.961         0.388          2.119          0              0              0
  80  Drawer          -0.509         0.775          5.920          0              270            0
  81  Drawer          -3.193         0.777          5.157          0              180            0
  82  Cabinet         -3.968         0.388          2.894          0              0              0
  83  Cabinet         -3.667         0.387          5.029          0              90             0
  84  StoveBurner     -2.469         0.924          1.712          0              270            0
  85  Cabinet         -1.539         0.388          2.090          0              0              0
  86  Sink            -4.190         0.921          3.279          0              0              0
  87  Cabinet         -3.641         0.387          5.029          0              90             0
  88  Cabinet         -1.583         1.931          1.777          0              0              0
  89  Drawer          -0.509         0.775          6.568          0              270            0
  90  CoffeeMachine   -0.279         0.912          6.556          0              270            0
  91  StoveKnob       -2.347         1.095          1.560          288.012        180            180
  92  StoveKnob       -2.788         1.095          1.560          288.012        180            180
  93  StoveKnob       -2.965         1.095          1.560          288.012        180            180
  94  StoveKnob       -2.512         1.095          1.560          288.012        180            180
  95  GarbageCan      -3.711         -0.030         6.376          0              270            0
  96  Toaster         -3.578         0.912          1.763          0              0              0
  97  Curtains        -4.522         2.252          3.391          90             90             0
  98  Window          -4.868         1.629          3.309          90             270            0
  99  Microwave       -2.693         1.430          1.689          0              0              0
 100  LightSwitch     -1.588         1.169          1.506          0              0              0
 101  SinkBasin       -4.196         0.780          3.276          0              270            0
 102  Fridge          -0.324         -0.001         3.602          0              0              0
 103  NorthWall
 104  EastWall
 105  SouthWall
 106  WestWall

Plan:
STEP 1: Turn around and cross the room to the counter above the dishwasher | STEP 2: Pick up the butter knife that is sitting on the counter | STEP 3: turn left and cross the room to the toaster, then turn right to face the counter that contains the lettuce | STEP 4: Slice the lettuce that is sitting on the counter | STEP 5: Turn around and walk to the black fridge across the room | STEP 6: Open the fridge and place the knife inside on the bottom shelf in front of the tomato then close the door | STEP 7: Turn around and head to the counter to the left of the sink, the one containing the sliced lettuce | STEP 8: Pick up a slice of lettuce | STEP 9: Turn around and walk to the fridge | STEP 10: Open the fridge and place the lettuce inside on the bottom self to the left of the tomato then close the door. Open the door and pick up the lettuce then close the door  | STEP 11: Turn around and cross the room to the sink | STEP 12: Place the lettuce inside the sink in front of the cup | END