Task: Put a cold 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           0.75           0.900          2.25           0              270            0
   1  Potato          1.767          0.970          1.244          0              0              0              43
   2  Potato          -0.876         0.970          1.076          0              0              0              63
   3  ButterKnife     -1.043         0.937          0.765          0              0              0              63
   4  ButterKnife     -0.689         0.746          0.847          0              270            0              61
   5  Fork            -0.960         0.938          1.154          0              0              0              63
   6  Fork            1.767          0.938          1.458          0              90             0              43
   7  Spoon           1.362          0.939          0.940          0              0              0              43
   8  Spoon           -0.827         0.747          0.847          0              180            0              61
   9  Cup             -1.116         1.500          0.757          0              0              0              49
  10  Plate           -1.077         1.833          -0.127         0              0              0              51
  11  Plate           1.385          1.076          0.376          0              0              0              44
  12  SoapBottle      -1.211         0.937          2.386          0              0              0              38
  13  SoapBottle      -1.081         1.500          2.216          0              180            0              69
  14  Bowl            -0.971         1.495          0.118          0              90             0              70
  15  Lettuce         -1.126         1.028          0.921          0              0              0              63
  16  Mug             1.652          1.591          1.598          0              270            0              77
  17  Lettuce         1.456          1.014          1.681          3.862          59.981         0              65
  18  SoapBottle      1.750          1.500          2.585          0              0              0              57
  19  Bread           -0.923         0.990          2.265          0              302.470        0              38
  20  Fork            1.448          0.747          2.323          0              90             0              41
  21  Tomato          1.285          0.999          2.118          0              0              0              43
  22  Bowl            -1.018         1.315          0.272          0              90             0              70
  23  Pot             -0.818         0.927          0.816          0              270            0              63
  24  Spatula         -0.710         0.952          0.998          0              90             0              63
  25  Knife           1.483          0.768          2.323          0              90             0              41
  26  SaltShaker      -0.827         0.742          0.914          0              180            0              61
  27  Apple           -1.065         1.368          -0.110         0              90             0              70
  28  PepperShaker    1.344          0.743          2.391          0              0              0              41
  29  ButterKnife     -0.960         0.937          0.998          0              0              0              63
  30  Potato          1.746          0.970          0.873          0              0              0              43
  31  Plate           -0.791         0.088          0.845          0              0              0              50
  32  DishSponge      1.344          0.746          0.780          0              0              0              68
  33  Egg             1.652          1.621          1.703          0              270            0              77
  34  Cup             1.346          1.070          0.173          0              0              0              44
  35  Pan             -1.109         0.930          1.865          0              0              0              62
  36  Spoon           -0.827         0.747          1.050          0              180            0              61
  37  Mug             -0.988         0.810          -0.110         0              90             0              70
  38  CounterTop      -0.973         0.973          2.386          0              0              0
  39  Drawer          -0.783         0.774          2.381          0              180            0
  40  StoveBurner     -1.108         0.922          1.470          0              0              0
  41  Drawer          1.370          0.774          2.391          0              0              0
  42  Stool           -0.748         0.008          3.116          0              0              0
  43  CounterTop      1.504          0.973          2.309          0              0              0
  44  Cabinet         1.219          1.388          0.591          0              0              0
  45  Cabinet         1.500          2.113          1.164          0              0              0
  46  Cabinet         1.219          2.010          0.591          0              0              0
  47  Cabinet         1.219          0.388          2.105          0              0              0
  48  Cabinet         1.219          0.553          0.591          0              0              0
  49  Cabinet         -0.913         2.113          1.164          0              0              0
  50  Cabinet         -0.633         0.388          0.627          0              0              0
  51  Cabinet         -0.913         2.050          -0.329         0              0              0
  52  Cabinet         -0.913         2.113          0.583          0              0              0
  53  Cabinet         -0.913         2.113          2.082          0              0              0
  54  Cabinet         -0.913         2.113          1.207          0              0              0
  55  Cabinet         1.500          2.113          2.082          0              0              0
  56  Cabinet         1.500          2.113          1.207          0              0              0
  57  Cabinet         1.500          1.810          2.691          0              0              0
  58  Cabinet         1.500          1.810          2.101          0              0              0
  59  Cabinet         -0.633         0.388          2.105          0              0              0
  60  Cabinet         -0.911         1.810          2.700          0              180            0
  61  Drawer          -0.783         0.774          0.915          0              180            0
  62  StoveBurner     -1.108         0.922          1.865          0              0              0
  63  CounterTop      -0.972         0.973          0.921          0              0              0
  64  Cabinet         1.219          0.388          0.631          0              0              0
  65  Sink            1.544          0.869          1.639          0              180            0
  66  StoveBurner     -0.832         0.922          1.865          0              0              0
  67  StoveBurner     -0.831         0.922          1.470          0              0              0
  68  Drawer          1.370          0.774          0.916          0              0              0
  69  Cabinet         -0.911         1.810          2.111          0              180            0
  70  Fridge          -1.001         0.0            0.119          0              0              0
  71  StoveKnob       -0.648         0.926          1.923          0              270            0
  72  StoveKnob       -0.648         0.926          1.363          0              270            0
  73  StoveKnob       -0.648         0.926          1.513          0              270            0
  74  StoveKnob       -0.648         0.926          1.763          0              270            0
  75  Toaster         -1.002         0.926          2.561          0              90             0
  76  GarbageCan      1.451          -0.029         2.912          0              0              0
  77  Microwave       1.632          1.480          1.645          0              270            0
  78  Window          0.224          1.601          3.509          90             0              0
  79  CoffeeMachine   1.692          0.926          2.453          0              270            0
  80  SinkBasin       1.461          0.833          1.369          0              180            0
  81  LightSwitch     0.451          1.412          -1.674         0              0              0
  82  Faucet          1.707          0.925          1.363          0              270            0
  83  NorthWall
  84  EastWall
  85  SouthWall
  86  WestWall

Plan:
STEP 1: Go straight and to the left to the counter on the left side of the oven. | STEP 2: Take the lettuce from the counter. | STEP 3: Stay at the counter. | STEP 4: Put the lettuce on the upper right hand corner of the counter. | STEP 5: Take the knife from the counter. | STEP 6: Cut the lettuce into slices on the counter. | STEP 7: Put the knife on the counter on the potato. | STEP 8: Take a slice of lettuce from the counter. | STEP 9: Go left to the refrigerator next to the counter. | STEP 10: Put the lettuce on the middle shelf of the refrigerator. Close then open the refrigerator. Take the lettuce from the refrigerator. | STEP 11: Turn around and go to the sink. | STEP 12: Put the lettuce in the sink. | END