Task: Put a slice of 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           -1.0           0.900          -1.25          0              0              0
   1  DishSponge      -2.638         1.537          0.557          0              0              0              75
   2  DishSponge      0.195          0.910          -1.795         0              0              0              61
   3  ButterKnife     -0.211         0.910          0.647          0              0              0              51
   4  ButterKnife     -0.471         0.910          1.764          0              0              0              51
   5  Spoon           1.426          0.912          0.465          0              0              0              60
   6  Spatula         -2.206         0.925          1.230          0              90             0              79
   7  Pot             1.411          0.929          0.064          0              0              0              80
   8  Cup             -2.334         0.207          -0.570         0              90             0              83
   9  Cup             1.145          0.768          -1.376         0              225            0              89
  10  Plate           -0.341         0.913          1.540          0              0              0              51
  11  Plate           0.445          1.666          -1.766         0              90             0              58
  12  Knife           -2.287         0.798          -0.073         0              90             0              69
  13  Knife           -2.538         0.936          1.530          0              0              0              79
  14  SoapBottle      1.769          0.913          0.465          0              0              0              60
  15  SoapBottle      1.415          0.924          -1.247         0              225            0              65
  16  Bowl            -2.372         0.908          1.530          0              0              0              79
  17  Bowl            -2.439         1.297          -0.885         0              90             0              83
  18  PepperShaker    0.683          0.905          -1.625         0              0              0              61
  19  SaltShaker      0.048          0.905          0.647          0              0              0              51
  20  SaltShaker      -2.538         0.905          0.331          0              0              0              79
  21  Lettuce         -2.289         0.994          0.631          0              0              0              79
  22  Lettuce         -0.081         0.994          1.317          0              0              0              51
  23  Lettuce         -2.372         0.994          0.931          0              0              0              79
  24  Bread           -0.081         0.996          0.423          0              0              0              51
  25  Bread           -0.471         0.996          0.870          0              0              0              51
  26  Mug             -2.538         1.010          2.481          0              90             0              91
  27  Apple           -2.485         1.362          -0.507         0              90             0              83
  28  Pan             1.691          0.929          -0.335         0              0              0              59
  29  Knife           1.418          0.943          -1.034         0              225            0              65
  30  Apple           1.729          0.246          0.706          0              0              0              90
  31  Bowl            -2.485         1.086          -0.790         0              90             0              83
  32  Fork            -0.601         0.911          1.540          0              0              0              51
  33  Bread           -2.372         0.996          1.230          0              0              0              79
  34  Plate           -2.621         0.913          1.230          0              0              0              79
  35  Egg             1.364          0.949          -1.088         0              225            0              65
  36  Kettle          1.412          0.929          -0.335         0              0              0              52
  37  Potato          1.855          0.947          0.376          0              0              0              60
  38  SaltShaker      -2.521         1.533          1.984          0              0              0              95
  39  Lettuce         -0.081         0.994          1.764          0              0              0              51
  40  Cup             1.661          1.654          0.387          0              0              0              70
  41  SoapBottle      1.598          0.913          0.465          0              0              0              60
  42  Spatula         -2.348         0.788          1.322          0              90             0              82
  43  PaperTowelRoll  1.562          0.289          0.679          0              0              0              90
  44  ButterKnife     -0.601         0.910          0.423          0              0              0              51
  45  PepperShaker    -2.484         1.578          -1.485         0              180            0              78
  46  DishSponge      -2.538         0.910          0.031          0              0              0              79
  47  Pot             1.691          0.929          0.064          0              0              0              62
  48  Spoon           -2.379         0.774          0.439          0              90             0              68
  49  Tomato          -2.532         1.131          -0.602         0              90             0              83
  50  Mug             1.808          1.658          -0.694         0              0              0              71
  51  CounterTop      -0.360         0.946          1.093          0              0              0
  52  StoveBurner     1.412          0.923          -0.335         0              0              0
  53  StoveKnob       1.878          1.093          0.018          287.989        90             0
  54  StoveKnob       1.878          1.093          -0.306         287.989        90             0
  55  Cabinet         -2.446         1.948          2.924          0              0              0
  56  Drawer          -2.276         0.792          0.902          0              0              0
  57  Cabinet         -2.145         0.402          1.578          0              0              0
  58  Cabinet         0.149          2.008          -1.603         0              90             0
  59  StoveBurner     1.691          0.923          -0.335         0              0              0
  60  CounterTop      1.585          0.946          0.405          0              0              0
  61  CounterTop      0.474          0.946          -1.625         0              0              0
  62  StoveBurner     1.691          0.923          0.064          0              0              0
  63  Cabinet         -2.446         1.948          1.687          0              0              0
  64  Cabinet         -2.446         1.948          1.640          0              0              0
  65  Sink            1.381          0.810          -1.271         0              225            0
  66  StoveKnob       1.878          1.093          0.150          287.989        90             0
  67  Cabinet         -2.145         0.402          -0.236         0              0              0
  68  Drawer          -2.276         0.792          0.437          0              0              0
  69  Drawer          -2.276         0.792          -0.027         0              0              0
  70  Cabinet         1.572          2.008          0.474          0              0              0
  71  Cabinet         1.572          2.008          -0.775         0              0              0
  72  Cabinet         -2.445         2.148          -1.275         0              0              0
  73  Cabinet         -2.446         2.148          -0.284         0              0              0
  74  Cabinet         -2.446         1.948          0.355          0              0              0
  75  Cabinet         -2.446         1.948          0.405          0              0              0
  76  Cabinet         -2.145         0.402          0.644          0              0              0
  77  Cabinet         -2.145         0.402          0.695          0              0              0
  78  Cabinet         -2.285         1.968          -1.325         0              180            0
  79  CounterTop      -1.485         0.946          1.319          0              0              0
  80  StoveBurner     1.411          0.923          0.064          0              0              0
  81  StoveKnob       1.878          1.093          -0.441         287.989        90             0
  82  Drawer          -2.276         0.792          1.368          0              0              0
  83  Fridge          -2.475         0.0            -0.782         0              90             0
  84  LightSwitch     -0.929         1.350          -1.950         0              0              0
  85  Toaster         -2.564         0.900          1.876          0              90             0
  86  CoffeeMachine   0.464          0.900          -1.810         0              0              0
  87  Window          1.508          1.534          -1.496         90             135            0
  88  Window          1.973          1.521          1.121          90             90             0
  89  SinkBasin       1.149          0.753          -1.380         0              225            0
  90  GarbageCan      1.646          -0.000         0.679          0              0              0
  91  Microwave       -2.580         0.900          2.440          0              90             0
  92  Stool           0.439          0.010          0.747          0              0              0
  93  Stool           -2.303         0.010          1.839          0              0              0
  94  Faucet          1.235          1.138          -1.473         0              225            0
  95
  96  NorthWall
  97  EastWall
  98  SouthWall
  99  WestWall

Plan:
STEP 1: Go forward to the wall, turn right, go forward a step, turn right to face the island counter. | STEP 2: Take the knife from the counter. | STEP 3: Turn right, go forward a step, turn left, go forward, turn right to the counter with the lettuce and the bread. | STEP 4: Cut the lettuce next to the bread into slices. | STEP 5: Turn left, go towards the door, turn left at the fridge, go forward to the counter to the left of the sink, turn right to face the sink. | STEP 6: Put the knife in the sink. | STEP 7: Turn right, go forward to the fridge, turn right, go forward, turn left to face the lettuce and the bread. | STEP 8: Take a slice of bread from the counter. | STEP 9: Turn left, go forward, turn right at the fridge, go to the fridge. | STEP 10: Chill the lettuce in the fridge, take the lettuce from the fridge. | STEP 11: Turn around, go forward to the counter to the right of the sink, turn right to face the sink. | STEP 12: Put the lettuce in the sink to the right of the cup. | END