Task: Place 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           1.0            0.900          -1.25          0              0              0
   1  ButterKnife     -0.876         0.937          0.687          0              0              0              57
   2  ButterKnife     -1.127         0.927          2.234          0              0              0              32
   3  Fork            1.285          0.938          0.940          0              90             0              37
   4  Spatula         -0.792         0.761          2.245          0              90             0              33
   5  Egg             1.362          0.979          1.798          0              180            0              59
   6  Knife           1.275          0.768          0.780          0              90             0              62
   7  Knife           -0.960         0.959          0.921          0              0              0              57
   8  Bowl            -1.018         1.495          0.195          0              90             0              64
   9  Lettuce         -1.126         1.028          0.843          0              0              0              57
  10  Apple           1.684          1.645          1.808          0              270            0              71
  11  Lettuce         1.460          1.014          1.677          4.843          59.541         355.815        59
  12  SoapBottle      1.592          0.937          0.739          0              0              0              37
  13  Bread           -0.923         0.990          2.264          0              302.404        0              32
  14  Fork            -0.793         0.938          0.998          0              90             0              57
  15  Tomato          -0.964         0.876          -0.110         0              90             0              64
  16  Bowl            -1.121         1.497          2.553          0              180            0              54
  17  Pot             -1.109         0.930          1.470          0              0              0              34
  18  Spatula         1.275          0.761          2.256          0              90             0              35
  19  Knife           1.362          0.959          0.806          0              90             0              37
  20  SaltShaker      1.344          0.742          0.984          0              0              0              62
  21  Apple           -0.860         0.615          -0.034         0              90             0              64
  22  PepperShaker    -1.126         0.934          1.076          0              0              0              57
  23  ButterKnife     -0.876         0.937          0.843          0              0              0              57
  24  Potato          -0.924         1.531          -0.034         0              90             0              64
  25  Plate           1.391          0.086          2.321          0              0              0              41
  26  DishSponge      1.379          0.746          2.323          0              0              0              35
  27  Egg             -0.877         1.354          -0.034         0              90             0              64
  28  Cup             -0.960         0.936          1.154          0              0              0              57
  29  Pan             1.378          1.737          0.392          0              270            0              40
  30  Spoon           -0.861         0.747          2.517          0              270            0              33
  31  Mug             1.528          1.002          2.345          0              270            0              37
  32  CounterTop      -0.973         0.973          2.386          0              0              0
  33  Drawer          -0.783         0.774          2.381          0              180            0
  34  StoveBurner     -1.108         0.922          1.470          0              0              0
  35  Drawer          1.370          0.774          2.391          0              0              0
  36  Stool           -0.748         0.008          3.116          0              0              0
  37  CounterTop      1.504          0.973          2.309          0              0              0
  38  Cabinet         1.219          1.388          0.591          0              0              0
  39  Cabinet         1.500          2.113          1.164          0              0              0
  40  Cabinet         1.219          2.010          0.591          0              0              0
  41  Cabinet         1.219          0.388          2.105          0              0              0
  42  Cabinet         1.219          0.553          0.591          0              0              0
  43  Cabinet         -0.913         2.113          1.164          0              0              0
  44  Cabinet         -0.633         0.388          0.627          0              0              0
  45  Cabinet         -0.913         2.050          -0.329         0              0              0
  46  Cabinet         -0.913         2.113          0.583          0              0              0
  47  Cabinet         -0.913         2.113          2.082          0              0              0
  48  Cabinet         -0.913         2.113          1.207          0              0              0
  49  Cabinet         1.500          2.113          2.082          0              0              0
  50  Cabinet         1.500          2.113          1.207          0              0              0
  51  Cabinet         1.500          1.810          2.691          0              0              0
  52  Cabinet         1.500          1.810          2.101          0              0              0
  53  Cabinet         -0.633         0.388          2.105          0              0              0
  54  Cabinet         -0.911         1.810          2.700          0              180            0
  55  Drawer          -0.783         0.774          0.915          0              180            0
  56  StoveBurner     -1.108         0.922          1.865          0              0              0
  57  CounterTop      -0.972         0.973          0.921          0              0              0
  58  Cabinet         1.219          0.388          0.631          0              0              0
  59  Sink            1.544          0.869          1.639          0              180            0
  60  StoveBurner     -0.832         0.922          1.865          0              0              0
  61  StoveBurner     -0.831         0.922          1.470          0              0              0
  62  Drawer          1.370          0.774          0.916          0              0              0
  63  Cabinet         -0.911         1.810          2.111          0              180            0
  64  Fridge          -1.001         0.0            0.119          0              0              0
  65  StoveKnob       -0.648         0.926          1.923          0              270            0
  66  StoveKnob       -0.648         0.926          1.363          0              270            0
  67  StoveKnob       -0.648         0.926          1.513          0              270            0
  68  StoveKnob       -0.648         0.926          1.763          0              270            0
  69  Toaster         -1.002         0.926          2.561          0              90             0
  70  GarbageCan      1.451          -0.029         2.912          0              0              0
  71  Microwave       1.632          1.480          1.645          0              270            0
  72  Window          0.224          1.601          3.509          90             0              0
  73  CoffeeMachine   1.692          0.926          2.453          0              270            0
  74  SinkBasin       1.461          0.833          1.369          0              180            0
  75  LightSwitch     0.451          1.412          -1.674         0              0              0
  76  Faucet          1.707          0.925          1.363          0              270            0
  77  NorthWall
  78  EastWall
  79  SouthWall
  80  WestWall

Plan:
STEP 1: Move forward toward the sink then turn left and move to the counter between the refrigerator and the range. | STEP 2: Pick up the gold knife located between the lettuce and the fork from the counter. | STEP 3: Turn to the left and move toward the refrigerator slightly, then turn to the right and face the counter. | STEP 4: Slice the head of lettuce to the left of the salt shaker on the counter using the knife. | STEP 5: Turn to the right and move toward the range slightly, then turn to the left and face the counter.  | STEP 6: Place the knife on top of the fork on the counter between the refrigerator and the range. | STEP 7: Turn to the left and move toward the refrigerator slightly, then turn to the right and face the counter. | STEP 8: Pick up a slice of lettuce from the sliced head of lettuce on the rear of the counter to the left of the salt shaker. | STEP 9: Turn to the left, move toward the white door, then turn to the right and face the gray refrigerator. | STEP 10: Open the refrigerator doors, place the lettuce on the top shelf to the right of the tomato, allow the lettuce to cool, open the refrigerator, pick up the lettuce from the top shelf and then close the refrigerator door. | STEP 11: Turn right, move towards the range, then turn right, and move to the sink. | STEP 12: Place the slice of lettuce to the right of the drain in the sink. | END