Task: Put a cold slice of 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           -2.25          0.900          2.75           0              180            0
   1  Potato          -1.462         0.935          -1.610         0              0              0              72
   2  CellPhone       -0.844         0.909          -1.415         0              0              0              72
   3  CellPhone       0.107          0.923          -0.190         0              0              0              80
   4  Ladle           1.341          1.724          -1.614         0              0              0              71
   5  Ladle           -0.320         0.969          0.506          0              270            0              80
   6  Kettle          -0.320         0.926          0.738          0              0              0              80
   7  Kettle          1.975          0.938          0.601          0              180            0              67
   8  DishSponge      1.760          0.694          0.672          0              0              0              73
   9  DishSponge      1.559          0.911          -0.210         0              0              0              72
  10  Fork            1.714          0.583          -0.238         0              0              0              57
  11  Fork            0.214          0.926          0.506          0              0              0              80
  12  Spoon           -1.050         0.912          -1.610         0              0              0              72
  13  Spoon           1.769          0.121          0.527          0              270            0              64
  14  Spatula         1.812          0.240          1.350          0              270            0              81
  15  Spatula         1.824          0.598          -0.019         0              0              0              57
  16  Egg             -0.106         0.982          0.970          0              0              0              80
  17  Egg             -0.106         0.982          -0.190         0              0              0              80
  18  Plate           -1.841         1.660          -1.131         0              90             0              59
  19  Plate           0.250          0.111          -1.408         0              0              0              61
  20  Knife           0.107          0.947          0.506          0              90             0              80
  21  SoapBottle      2.001          1.662          -1.129         0              270            0              60
  22  SoapBottle      1.900          0.915          1.333          0              0              0              72
  23  Tomato          -1.796         0.096          1.288          0              270            0              86
  24  Lettuce         -0.320         1.002          0.041          0              0              0              80
  25  Mug             1.924          1.001          -0.651         0              270            0              93
  26  Apple           -0.320         0.978          0.273          0              0              0              80
  27  SoapBottle      0.107          0.929          0.970          0              0              0              80
  28  Cup             -1.814         0.909          -0.864         0              0              0              72
  29  Pot             0.889          0.9            -1.412         0              0              0              72
  30  Fork            1.839          0.912          -0.053         0              0              0              72
  31  Ladle           -0.193         0.159          -1.472         0              0              0              51
  32  Kettle          1.975          0.938          0.384          0              180            0              58
  33  Egg             -1.050         0.968          -1.415         0              0              0              72
  34  Plate           0.000          0.924          1.202          0              0              0              80
  35  Pan             -1.286         0.9            -1.348         0              79.769         0              72
  36  Lettuce         0.107          1.002          0.273          0              0              0              80
  37  Spatula         1.603          0.597          0.198          0              180            0              57
  38  Apple           -0.213         0.978          0.970          0              0              0              80
  39  Knife           1.658          0.784          1.074          0              180            0              78
  40  SaltShaker      1.812          0.541          1.153          0              0              0              70
  41  PepperShaker    0.750          0.667          -1.362         0              0              0              53
  42  CellPhone       1.764          0.224          0.531          0              0              0              66
  43  ButterKnife     1.769          0.121          0.672          0              90             0              64
  44  Bread           0.256          0.987          -0.076         0              330.886        0              80
  45  Tomato          0.000          0.980          0.738          0              0              0              80
  46  Potato          -0.213         0.949          1.202          0              0              0              80
  47  DishSponge      1.273          0.108          -1.542         0              0              0              65
  48  Spoon           0.698          0.672          -1.301         0              0              0              53
  49  Mug             1.355          0.955          -1.362         0              0              0              94
  50  Bowl            1.587          1.678          -1.652         0              0              0              71
  51  Cabinet         -0.495         0.474          -1.149         0              0              0
  52  Window          -0.010         1.582          -1.821         0              0              0
  53  Drawer          0.805          0.475          -1.159         0              0              0
  54  StoveBurner     1.764          0.902          0.601          0              270            0
  55  Drawer          1.5            0.196          -0.019         0              0              0
  56  Drawer          1.5            0.629          -0.018         0              0              0
  57  Drawer          1.5            0.602          -0.019         0              270            0
  58  StoveBurner     1.975          0.902          0.384          0              270            0
  59  Cabinet         -1.703         2.022          -1.453         0              90             0
  60  Cabinet         1.789          2.019          -0.819         0              270            0
  61  Cabinet         0.494          0.474          -1.149         0              0              0
  62  Cabinet         0.409          0.475          0.444          0              0              0
  63  Drawer          -0.696         0.475          -1.159         0              0              0
  64  Drawer          1.5            0.140          0.599          0              270            0
  65  Cabinet         1.389          0.474          -1.149         0              0              0
  66  Drawer          1.5            0.305          0.600          0              0              0
  67  StoveBurner     1.975          0.902          0.601          0              270            0
  68  Drawer          1.5            0.429          -0.019         0              0              0
  69  StoveBurner     1.764          0.902          0.819          0              270            0
  70  Drawer          1.5            0.519          1.220          0              0              0
  71  Cabinet         1.705          2.019          -1.449         0              0              0
  72  CounterTop      0.002          0.947          -1.513         0              0              0
  73  Drawer          1.5            0.629          0.605          0              0              0
  74  Cabinet         -0.627         2.019          -1.449         0              0              0
  75  StoveBurner     1.764          0.902          0.384          0              270            0
  76  Drawer          1.5            0.538          0.600          0              0              0
  77  Sink            0.0            0.893          -1.434         0              0              0
  78  Drawer          1.5            0.782          1.220          0              270            0
  79  Window          2.217          1.565          -0.384         0              0              0
  80  CounterTop      -0.014         0.961          0.505          0              0              0
  81  Drawer          1.5            0.200          1.220          0              0              0
  82  StoveBurner     1.975          0.902          0.819          0              270            0
  83  Window          -3.240         1.616          2.693          0              270            0
  84  Cabinet         -1.389         0.474          -1.149         0              0              0
  85  LightSwitch     -0.153         1.291          3.700          0              180            0
  86  GarbageCan      -1.796         0.009          1.330          0              270            358.295
  87  StoveKnob       1.602          0.917          0.570          0              270            180
  88  StoveKnob       1.602          0.917          0.625          0              270            180
  89  StoveKnob       1.602          0.917          0.739          0              270            180
  90  StoveKnob       1.602          0.917          0.680          0              270            180
  91  StoveKnob       1.602          0.917          0.462          0              270            180
  92  StoveKnob       1.602          0.917          0.517          0              270            180
  93  Microwave       1.932          0.899          -0.766         0              270            0
  94  CoffeeMachine   1.355          0.899          -1.596         0              0              0
  95  Fridge          -1.764         0.0            0.014          0              90             0
  96  SinkBasin       -0.014         0.736          -1.435         0              0              0
  97  Toaster         1.977          0.900          -0.336         0              270            0
  98  Faucet          -0.020         1.137          -1.605         0              270            0
  99  Chair           -9.354         0.000          1.242          0              180            0
 100  NorthWall
 101  EastWall
 102  SouthWall
 103  WestWall

Plan:
STEP 1: Turn left, go forward to the wall, turn right, go forward, turn right to the island where the fork is. | STEP 2: Take the knife above the fork from the island counter. | STEP 3: Move a step to the left and face the island. | STEP 4: Cut the closest lettuce on the island counter into slices. | STEP 5: Turn left, go forward to the counter, turn right, go forward, turn left at the sink. | STEP 6: Put the knife in the sink. | STEP 7: Turn left, go forward, turn left, go forward, turn left to island counter where the lettuce is. | STEP 8: Take a slice of lettuce from the island counter. | STEP 9: Turn left, go forward to the counter, turn right, go forward all the way, turn right, go forward, turn left at the fridge. | STEP 10: Chill the lettuce in the fridge. Take the lettuce from the fridge. | STEP 11: Turn left, go forward to the counter, turn right, go forward, turn right at the sink. | STEP 12: Put the lettuce in the sink in the lower left corner. | END