Task: Put 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           -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: Walk straight ahead, then turn to your right at the end of the counter. | STEP 2: Pick up the butter knife to the left of the head of lettuce, on the counter. | STEP 3: Move over to your right so that you are directly in front of the head of lettuce on the counter top.  | STEP 4: Cut the head of lettuce, on the counter into slices. | STEP 5: Turn to your right and walk to the end of the counter then turn left, then go to the sink on your left.  | STEP 6: Place the knife in the sink, in front of the bowl and the apple.  | STEP 7: Turn to your right and go to the end of the counter, then make a right and go back to the head of lettuce, at the end of the counter, on your right.  | STEP 8: Pick up one of the slices of lettuce on the counter.  | STEP 9: Turn to your right and go to the refrigerator on your left.  | STEP 10: Place the slice of lettuce in the refrigerator, on the third shelf, to the left of the tomato, wait for it to chill, then remove the slice of lettuce from the refrigerator.  | STEP 11: Turn to your left and go back to the sink on your right.  | STEP 12: Place the slice of lettuce in the front of the sink.  | END