Task: Put cold 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           -0.5           0.900          -0.75          0              0              0
   1  Pan             0.661          0.911          -1.415         0              0              0              62
   2  Potato          2.073          0.935          1.032          0              0              0              62
   3  Potato          1.924          1.030          -0.651         0              270            0              83
   4  ButterKnife     -0.106         0.925          1.202          0              0              0              70
   5  Pot             1.975          0.938          0.384          0              180            0              48
   6  Plate           -0.638         0.910          -1.610         0              0              0              62
   7  Plate           0.250          0.111          -1.408         0              0              0              51
   8  Knife           -0.213         0.947          -0.190         0              180            0              70
   9  Knife           1.658          0.143          0.454          0              180            0              54
  10  SoapBottle      -0.213         0.929          0.506          0              0              0              70
  11  SoapBottle      -0.361         0.118          -1.347         0              0              0              41
  12  Tomato          -1.663         0.618          0.201          0              90             0              85
  13  Bowl            0.083          0.758          -1.435         0              0              0              86
  14  SaltShaker      0.000          0.921          0.738          0              0              0              70
  15  Lettuce         -0.213         1.002          0.970          0              0              0              70
  16  Lettuce         0.107          1.002          0.273          0              0              0              70
  17  SoapBottle      1.234          0.112          -1.479         0              0              0              55
  18  Cup             2.039          1.657          -1.280         0              270            0              50
  19  Pot             -1.639         0.915          -0.914         0              0              0              62
  20  Fork            1.612          0.225          1.088          0              90             0              71
  21  Ladle           1.769          0.164          0.745          0              270            0              54
  22  Kettle          -0.320         0.926          0.738          0              0              0              70
  23  Egg             -1.753         1.086          -0.081         0              90             0              85
  24  Plate           1.986          0.910          1.333          0              0              0              62
  25  Pan             0.214          0.925          0.970          0              90             0              70
  26  Lettuce         -0.320         1.002          0.041          0              0              0              70
  27  Spatula         1.574          0.926          -1.707         0              90             0              62
  28  Apple           -0.175         0.813          -1.380         0              0              0              86
  29  Knife           -0.106         0.947          0.506          0              90             0              70
  30  SaltShaker      -1.902         0.907          -0.914         0              0              0              62
  31  PepperShaker    0.000          0.921          0.041          0              0              0              70
  32  CellPhone       1.760          0.693          0.113          0              0              0              46
  33  ButterKnife     1.117          0.911          -1.318         0              0              0              62
  34  Bread           0.256          0.987          -0.076         0              330.886        0              70
  35  Tomato          -1.796         0.097          1.329          0              270            0              76
  36  Potato          -1.645         1.492          -0.269         0              90             0              85
  37  DishSponge      1.746          0.911          0.182          0              0              0              62
  38  Spoon           0.321          0.926          0.273          0              0              0              70
  39  Mug             1.988          1.001          -0.808         0              270            0              83
  40  Bowl            -0.193         0.113          -1.534         0              0              0              41
  41  Cabinet         -0.495         0.474          -1.149         0              0              0
  42  Window          -0.010         1.582          -1.821         0              0              0
  43  Drawer          0.805          0.475          -1.159         0              0              0
  44  StoveBurner     1.764          0.902          0.601          0              270            0
  45  Drawer          1.5            0.196          -0.019         0              0              0
  46  Drawer          1.5            0.629          -0.018         0              0              0
  47  Drawer          1.5            0.602          -0.019         0              270            0
  48  StoveBurner     1.975          0.902          0.384          0              270            0
  49  Cabinet         -1.703         2.022          -1.453         0              90             0
  50  Cabinet         1.789          2.019          -0.819         0              270            0
  51  Cabinet         0.494          0.474          -1.149         0              0              0
  52  Cabinet         0.409          0.475          0.444          0              0              0
  53  Drawer          -0.696         0.475          -1.159         0              0              0
  54  Drawer          1.5            0.140          0.599          0              270            0
  55  Cabinet         1.389          0.474          -1.149         0              0              0
  56  Drawer          1.5            0.305          0.600          0              0              0
  57  StoveBurner     1.975          0.902          0.601          0              270            0
  58  Drawer          1.5            0.429          -0.019         0              0              0
  59  StoveBurner     1.764          0.902          0.819          0              270            0
  60  Drawer          1.5            0.519          1.220          0              0              0
  61  Cabinet         1.705          2.019          -1.449         0              0              0
  62  CounterTop      0.002          0.947          -1.513         0              0              0
  63  Drawer          1.5            0.629          0.605          0              0              0
  64  Cabinet         -0.627         2.019          -1.449         0              0              0
  65  StoveBurner     1.764          0.902          0.384          0              270            0
  66  Drawer          1.5            0.538          0.600          0              0              0
  67  Sink            0.0            0.893          -1.434         0              0              0
  68  Drawer          1.5            0.782          1.220          0              270            0
  69  Window          2.217          1.565          -0.384         0              0              0
  70  CounterTop      -0.014         0.961          0.505          0              0              0
  71  Drawer          1.5            0.200          1.220          0              0              0
  72  StoveBurner     1.975          0.902          0.819          0              270            0
  73  Window          -3.240         1.616          2.693          0              270            0
  74  Cabinet         -1.389         0.474          -1.149         0              0              0
  75  LightSwitch     -0.153         1.291          3.700          0              180            0
  76  GarbageCan      -1.796         0.009          1.330          0              270            358.295
  77  StoveKnob       1.602          0.917          0.570          0              270            180
  78  StoveKnob       1.602          0.917          0.625          0              270            180
  79  StoveKnob       1.602          0.917          0.739          0              270            180
  80  StoveKnob       1.602          0.917          0.680          0              270            180
  81  StoveKnob       1.602          0.917          0.462          0              270            180
  82  StoveKnob       1.602          0.917          0.517          0              270            180
  83  Microwave       1.932          0.899          -0.766         0              270            0
  84  CoffeeMachine   1.355          0.899          -1.596         0              0              0
  85  Fridge          -1.764         0.0            0.014          0              90             0
  86  SinkBasin       -0.014         0.736          -1.435         0              0              0
  87  Toaster         1.977          0.900          -0.336         0              270            0
  88  Faucet          -0.020         1.137          -1.605         0              270            0
  89  Chair           -9.354         0.000          1.242          0              180            0
  90  NorthWall
  91  EastWall
  92  SouthWall
  93  WestWall

Plan:
STEP 1: Turn to the left, go forward then hang a right, go forward to the end of the counter, turn to the right to face the counter  | STEP 2: Pick up the butter knife that is to the left of the lettuce.  | STEP 3: Turn to the right, go forward, turn to the left to the lettuce on the counter to the left of the teapot.  | STEP 4: Use the knife to cut the lettuce into slices.  | STEP 5: Turn to the right, go forward to the counter, turn to the left, go to the sink ahead on the right.  | STEP 6: Put the knife in to the sink in front of the vase.  | STEP 7: Turn to the right, go forward to the counter, turn to the right, go forward to the end of the counter and turn right to face the sliced lettuce.  | STEP 8: Pick up a slice of the lettuce from the counter.  | STEP 9: Turn to the right, go forward to the fridge that is on the left.  | STEP 10: Put the lettuce inside the fridge and close the door, remove the cold lettuce from the fridge and close the door.  | STEP 11: Turn to the left, go to the counter, turn to the left and go to the sink ahead on the right.  | STEP 12: Put the lettuce in the sink on the left side of the butter knife.  | END