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           -2.25          0.901          -2.5           0              180            0
   1  Potato          -1.707         0.834          -3.661         0              0              0              85
   2  Potato          -3.027         1.442          -2.064         0              90             0              84
   3  DishSponge      -0.500         0.915          -1.432         0              0              0              70
   4  DishSponge      -0.412         0.746          -1.253         0              0              0              66
   5  ButterKnife     -0.243         0.913          -3.729         0              0              0              43
   6  Spatula         -2.532         0.728          -0.564         0              225            0              87
   7  Spoon           -3.111         0.718          -0.652         0              225            0              87
   8  Fork            -2.740         0.714          -0.069         0              0              0              87
   9  Egg             -0.189         1.048          -0.950         0              270            0              80
  10  Cup             -0.650         0.914          -3.804         0              0              0              43
  11  Cup             -0.257         0.916          -1.616         0              0              0              70
  12  Knife           -2.664         0.746          -0.294         0              315            0              87
  13  SoapBottle      -0.419         0.915          -0.524         0              0              0              70
  14  SaltShaker      -2.270         0.910          -3.729         0              0              0              43
  15  SaltShaker      -2.990         0.710          -0.780         0              0              0              87
  16  PepperShaker    -0.500         0.742          -2.858         0              0              0              73
  17  PepperShaker    -0.382         0.743          -1.176         0              0              0              66
  18  Bread           -0.447         0.954          -3.878         0              0              0              43
  19  Bread           -0.160         0.954          -3.012         0              0              0              43
  20  Mug             -1.983         0.785          -3.747         0              180            0              85
  21  Apple           -3.027         0.683          -2.125         0              90             0              84
  22  Pot             -2.836         0.903          -3.745         0              92.628         0              43
  23  Egg             -2.431         0.749          -0.326         0              225            0              87
  24  Cup             -3.182         0.641          -2.125         0              90             0              84
  25  Bread           -2.809         0.757          -0.640         0              135            0              87
  26  Fork            -0.441         0.746          -2.858         0              270            0              73
  27  Pan             -0.165         0.975          -2.450         0              0              0              75
  28  Potato          -3.182         1.057          -2.064         0              90             0              84
  29  Lettuce         -1.323         0.988          -3.758         1.039          253.596        356.130        43
  30  Tomato          -3.182         0.690          -1.879         0              90             0              84
  31  Apple           -2.740         0.756          -0.922         0              0              0              87
  32  SoapBottle      -3.292         0.713          -0.370         0              270            0              87
  33  Spatula         -0.039         0.928          -3.878         0              0              0              43
  34  SaltShaker      -2.721         0.710          -0.552         0              135            0              87
  35  Knife           -1.551         0.946          -3.526         0              0              0              43
  36  PepperShaker    -0.102         1.864          -2.586         0              0              0              62
  37  ButterKnife     -0.412         0.913          -2.911         0              0              0              43
  38  Plate           -3.226         1.866          -1.865         0              0              0              53
  39  DishSponge      -0.452         0.080          -1.337         0              0              0              48
  40  Spoon           -3.123         0.718          -0.841         0              315            0              87
  41  Mug             -2.439         0.711          -0.433         0              270            0              87
  42  Bowl            -0.773         0.079          -3.675         0              0              0              45
  43  CounterTop      -1.789         0.949          -3.803         0              0              0
  44  Cabinet         -0.577         0.388          -3.476         0              0              0
  45  Cabinet         -0.605         0.388          -3.511         0              0              0
  46  Cabinet         -2.976         0.388          -3.201         0              0              0
  47  Cabinet         -0.577         0.388          -0.447         0              0              0
  48  Cabinet         -0.577         0.388          -1.725         0              0              0
  49  Cabinet         -0.226         1.803          -1.743         0              0              0
  50  Cabinet         -0.228         1.799          -0.447         0              0              0
  51  Cabinet         -6.010         1.139          -6.019         0              0              0
  52  Cabinet         -3.022         2.098          -2.681         0              0              0
  53  Cabinet         -3.022         2.098          -1.743         0              0              0
  54  Cabinet         -0.577         0.388          -2.736         0              0              0
  55  Cabinet         -3.232         1.803          -3.343         0              0              0
  56  Cabinet         -2.811         1.810          -3.764         0              0              0
  57  Cabinet         -1.233         1.810          -3.764         0              0              0
  58  Cabinet         -1.364         0.388          -3.511         0              0              0
  59  Cabinet         -1.380         0.388          -3.511         0              0              0
  60  Cabinet         -0.226         1.803          -2.725         0              0              0
  61  Cabinet         -0.236         2.098          -1.767         0              0              0
  62  Cabinet         -0.236         2.098          -2.705         0              0              0
  63  Cabinet         -0.193         1.210          -4.239         0              0              0
  64  Cabinet         -2.148         0.388          -3.511         0              0              0
  65  Drawer          -3.104         0.797          -2.968         0              0              0
  66  Drawer          -0.449         0.797          -1.410         0              0              0
  67  Sink            -1.786         0.902          -3.748         0              0              0
  68  StoveBurner     -0.376         0.936          -2.451         0              0              0
  69  Drawer          -0.449         0.797          -0.762         0              0              0
  70  CounterTop      -0.268         0.951          -1.089         0              0              0
  71  Drawer          -0.449         0.797          -3.348         0              0              0
  72  StoveBurner     -0.376         0.936          -2.031         0              180            0
  73  Drawer          -0.449         0.797          -2.968         0              0              0
  74  StoveBurner     -0.165         0.936          -2.030         0              180            0
  75  StoveBurner     -0.165         0.936          -2.450         0              0              0
  76  StoveKnob       -0.568         0.903          -2.313         45             270            0
  77  StoveKnob       -0.568         0.903          -2.470         45             270            0
  78  StoveKnob       -0.568         0.903          -2.166         45             270            0
  79  StoveKnob       -0.568         0.903          -2.003         45             270            0
  80  Microwave       -0.143         0.903          -0.908         0              270            0
  81  LightSwitch     -1.108         1.457          0.338          0              180            0
  82  GarbageCan      -0.283         -0.032         -0.035         0              270            0
  83  CoffeeMachine   -3.104         0.837          -0.185         0              135            0
  84  Fridge          -3.188         0.0            -2.184         0              0              0
  85  SinkBasin       -1.786         0.779          -3.747         0              0              0
  86  Toaster         -0.230         0.903          -3.406         0              270            0
  87  DiningTable     -2.800         0.003          -0.505         0              0              0
  88  Chair           -3.044         0.003          -1.223         0              32.194         0
  89  Faucet          -1.791         1.136          -3.913         0              270            0
  90  NorthWall
  91  EastWall
  92  SouthWall
  93  WestWall

Plan:
STEP 1: turn to the left go left turn to the left towards the table | STEP 2: pick up the knife that is on the table | STEP 3: turn to the left go right go forward towards the counter  | STEP 4: slice the lettuce that is on the counter | STEP 5: turn around to the right go forward go left towards the refrigerator | STEP 6: put the knife inside the refrigerator | STEP 7: turn around to the left go forward go right towards the counter | STEP 8: pick a slice of lettuce from the counter | STEP 9: turn around to the right go forward go left towards the refrigerator | STEP 10: put the lettuce inside the refrigerator get it back out  | STEP 11: turn around to the left go right towards the sink | STEP 12: put the slice of lettuce inside the sink | END