Task: To cool a slice of lettuce plus place it 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           1.5            0.900          -0.25          0              90             0
   1  Pan             -0.473         1.111          -0.506         0              0              0              65
   2  Statue          0.217          1.110          -0.001         0              90             0              65
   3  Potato          -2.120         0.828          1.003          0              90             0              98
   4  Plate           0.324          0.907          -2.560         0              0              0              67
   5  Cup             -1.457         1.656          -2.567         0              0              0              81
   6  Egg             -0.473         1.146          -0.759         0              0              0              65
   7  Tomato          -2.018         0.808          -1.501         0              90             0              100
   8  SoapBottle      -1.651         0.479          -0.293         0              90             0              80
   9  SaltShaker      -1.609         0.150          -0.342         0              90             0              88
  10  PepperShaker    0.951          1.657          -2.636         0              0              0              87
  11  PepperShaker    -0.782         1.652          -2.568         0              0              0              79
  12  Lettuce         -0.059         1.191          -0.506         0              0              0              65
  13  Fork            1.098          0.911          -2.253         0              0              0              67
  14  Fork            -1.740         0.794          -0.351         0              0              0              64
  15  Spoon           -1.782         0.795          0.155          0              90             0              62
  16  Spoon           0.951          0.316          -2.431         0              0              0              69
  17  Mug             -2.163         1.497          1.092          0              90             0              98
  18  Mug             -0.070         1.785          -2.546         0              0              0              91
  19  Spatula         -1.908         0.784          -1.760         0              90             0              100
  20  Spatula         0.892          0.157          -2.431         0              90             0              85
  21  Pot             0.969          0.914          -2.560         0              0              0              67
  22  Kettle          -0.036         0.950          -2.576         0              270            0              68
  23  Glassbottle     -1.392         0.137          -2.453         0              0              0              83
  24  Glassbottle     -0.898         1.657          -2.568         0              0              0              79
  25  WineBottle      -1.935         0.048          2.124          0              270            0              96
  26  DishSponge      -1.935         0.047          2.029          0              270            0              96
  27  DishSponge      -1.586         0.910          -2.406         0              0              0              90
  28  Bowl            -1.852         0.766          -1.501         0              90             0              100
  29  Bowl            -2.070         1.302          1.092          0              90             0              98
  30  Book            0.155          1.1            0.617          0              315            0              65
  31  Glassbottle     -1.765         0.130          0.158          0              90             0              71
  32  Knife           0.582          0.936          -2.560         0              0              0              67
  33  Bread           0.079          1.184          0.251          0              0              0              65
  34  Fork            -1.696         0.155          -0.245         0              90             0              88
  35  Potato          -2.080         0.570          0.920          0              90             0              98
  36  SoapBottle      1.685          0.554          -2.614         0              180            0              95
  37  Kettle          -0.465         0.950          -2.576         0              90             0              74
  38  Pan             0.721          0.9            -2.415         0              0              0              67
  39  Plate           -2.019         0.908          -2.146         0              0              0              90
  40  Tomato          -1.774         0.950          -2.036         0              0              0              90
  41  Vase            1.478          0.555          -2.614         0              180            0              95
  42  Egg             -0.173         1.825          -2.482         0              0              0              91
  43  CreditCard      0.836          0.478          -2.380         0              0              0              73
  44  Statue          1.955          0.168          -2.543         0              0              0              97
  45  WineBottle      -1.143         0.912          -2.560         0              0              0              90
  46  Pot             -1.219         0.9            -2.356         0              0              0              90
  47  Spatula         -1.908         0.784          -1.414         0              90             0              100
  48  PaperTowelRoll  1.891          0.985          -2.509         0              180            0              92
  49  Cup             -2.018         0.767          -1.242         0              90             0              100
  50  Vase            0.450          0.138          -2.387         0              0              0              82
  51  Bowl            -1.755         0.132          -1.740         0              90             0              66
  52  SaltShaker      0.453          0.907          -2.253         0              0              0              67
  53  PepperShaker    -1.774         0.907          -2.146         0              0              0              90
  54  Lettuce         -1.806         0.973          -0.942         0              256.771        0              90
  55  ButterKnife     -0.335         1.111          0.504          0              0              0              65
  56  Apple           -0.197         1.162          0.757          0              0              0              65
  57  DishSponge      0.836          0.315          -2.431         0              0              0              69
  58  Spoon           1.007          0.646          -2.417         0              0              0              70
  59  Mug             -1.731         0.956          -0.168         0              90             0              99
  60  StoveBurner     -0.036         0.915          -2.372         0              0              0
  61  Drawer          0.949          0.832          -2.197         0              0              0
  62  Drawer          -1.560         0.839          0.204          0              90             0
  63  StoveBurner     -0.465         0.915          -2.371         0              180            0
  64  Drawer          -1.560         0.839          -0.197         0              90             0
  65  CounterTop      -0.079         1.147          -0.001         0              0              0
  66  Cabinet         -1.549         0.494          -1.964         0              90             0
  67  CounterTop      0.693          0.946          -2.483         0              0              0
  68  StoveBurner     -0.036         0.915          -2.576         0              0              0
  69  Drawer          0.949          0.393          -2.200         0              0              0
  70  Drawer          0.949          0.708          -2.200         0              0              0
  71  Cabinet         -1.549         0.494          0.379          0              90             0
  72  StoveKnob       -0.022         0.881          -2.187         45             0              0
  73  Drawer          0.949          0.560          -2.201         0              0              0
  74  StoveBurner     -0.465         0.915          -2.575         0              180            0
  75  Window          -2.230         1.429          -1.203         0              0              0
  76  StoveKnob       -0.483         0.881          -2.187         45             0              0
  77  Sink            -1.899         0.964          -1.5           0              90             0
  78  StoveKnob       -0.328         0.881          -2.187         45             0              0
  79  Cabinet         -0.727         2.015          -2.460         0              0              0
  80  Drawer          -1.560         0.655          -0.196         0              90             0
  81  Cabinet         -1.685         2.015          -2.461         0              0              0
  82  Cabinet         0.680          0.494          -2.200         0              0              0
  83  Cabinet         -1.179         0.494          -2.200         0              0              0
  84  Cabinet         -1.849         2.015          0.379          0              90             0
  85  Drawer          0.949          0.221          -2.200         0              0              0
  86  StoveKnob       -0.183         0.881          -2.187         45             0              0
  87  Cabinet         0.719          2.015          -2.460         0              0              0
  88  Drawer          -1.560         0.331          -0.196         0              90             0
  89  Cabinet         0.680          2.015          -2.460         0              0              0
  90  CounterTop      -1.868         0.946          -1.205         0              0              0
  91  Microwave       -0.236         1.689          -2.525         0              0              0
  92  Shelf           1.751          0.880          -2.560         0              0              0
  93  HousePlant      -1.948         0.889          -2.520         0              5.334          0
  94  Toaster         -1.835         0.900          0.134          0              90             0
  95  Shelf           1.750          0.552          -2.559         0              0              0
  96  GarbageCan      -1.935         -0.002         2.029          0              270            0
  97  Shelf           1.750          0.172          -2.559         0              0              0
  98  Fridge          -2.096         0.0            1.088          0              0              0
  99  CoffeeMachine   -1.977         0.900          -0.188         0              90             0
 100  SinkBasin       -1.908         0.759          -1.488         0              90             0
 101  LightSwitch     2.329          1.309          -0.159         0              270            0
 102  ShelvingUnit    1.750          0.006          -2.559         0              0              0
 103  Stool           0.702          0.000          -0.514         1.202          65.108         0
 104  Stool           0.743          0.000          0.563          1.227          106.706        0
 105  Faucet          -2.070         1.132          -1.514         0              0              0
 106  NorthWall
 107  EastWall
 108  SouthWall
 109  WestWall

Plan:
STEP 1: Turn around and walk around the center table to face the opposite side. | STEP 2: Pick up the knife on the center table. | STEP 3: Turn right and walk around to face the right side of the center table. | STEP 4: Cut the lettuce on the center table into slices. | STEP 5: Turn left and step forward to face the sink. | STEP 6: Place the knife on the counter to the left of the sink. | STEP 7: Turn right and step forward to face the right side of the center table. | STEP 8: Pick up a slice of lettuce on the center table. | STEP 9: Turn left and walk around the room and turn left to face the fridge. | STEP 10: Cool the slice of lettuce in the fridge and remove it. | STEP 11: Turn left and walk forward to face the counter. | STEP 12: Place the lettuce slice on the counter to the left of the sink. | END