Task: put a slice of lettuce inside 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           -1.0           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 to the right and go forward go right towards the sink | STEP 2: pick up the knife from the sink | STEP 3: turn around to the left to the other side of the counter  | STEP 4: slice the lettuce that is on top of the counter | STEP 5: turn around to the right go forward towards to the refrigerator | STEP 6: put the knife inside the refrigerator | STEP 7: turn around to the right go forward | STEP 8: pick up a slice of lettuce | STEP 9: turn around to the right go forward | STEP 10: open the refrigerator put the slice of lettuce inside the refrigerator get it back out | STEP 11: turn around to the right go forward towards the sink | STEP 12: put the slice of lettuce inside the sink | END