Task: Put cold 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          2.0            0              180            0
   1  Pan             1.765          0.938          0.384          0              180            0              69
   2  Pan             0.107          0.925          0.041          0              270            0              74
   3  Potato          -1.551         0.935          -1.063         0              0              0              66
   4  CellPhone       -1.463         0.909          -0.864         0              0              0              66
   5  Kettle          1.156          0.110          -1.542         0              0              0              59
   6  Kettle          -1.841         1.663          -1.131         0              90             0              53
   7  DishSponge      1.660          0.694          0.543          0              0              0              67
   8  DishSponge      -0.751         0.671          -1.332         0              0              0              57
   9  Egg             -1.750         1.733          0.201          0              90             0              89
  10  Cup             -1.634         0.561          -0.081         0              90             0              89
  11  Cup             -1.753         1.027          0.295          0              90             0              89
  12  Plate           -1.244         0.112          -1.487         0              0              0              78
  13  Plate           -0.249         0.113          -1.472         0              0              0              45
  14  SoapBottle      0.305          0.116          -1.534         0              0              0              55
  15  Tomato          -0.320         0.980          0.738          0              0              0              74
  16  Tomato          -1.855         1.524          0.013          0              90             0              89
  17  Bread           -0.213         1.006          0.041          0              0              0              74
  18  Lettuce         0.214          1.002          0.738          0              0              0              74
  19  Mug             -0.002         0.755          -1.380         0              0              0              90
  20  Apple           0.170          0.813          -1.435         0              0              0              90
  21  SoapBottle      -0.106         0.929          0.970          0              0              0              74
  22  Cup             -1.645         1.467          -0.081         0              90             0              89
  23  Pot             0.889          0.9            -1.412         0              0              0              66
  24  Fork            -0.213         0.926          0.738          0              0              0              74
  25  Ladle           1.769          0.626          -0.165         0              270            0              51
  26  Kettle          1.975          0.938          0.819          0              180            0              76
  27  Egg             -1.789         1.086          0.013          0              90             0              89
  28  Plate           -0.990         1.678          -1.614         0              0              0              68
  29  Pan             -1.286         0.9            -1.348         0              79.769         0              66
  30  Lettuce         -0.106         1.002          0.273          0              0              0              74
  31  Spatula         -0.175         0.775          -1.490         0              90             0              90
  32  Apple           -1.645         1.522          0.295          0              90             0              89
  33  Knife           0.321          0.947          0.738          0              90             0              74
  34  SaltShaker      2.001          1.655          -0.977         0              270            0              54
  35  PepperShaker    -0.638         0.907          -1.318         0              0              0              66
  36  CellPhone       0.107          0.923          0.738          0              0              0              74
  37  ButterKnife     0.000          0.925          1.202          0              0              0              74
  38  Bread           -0.106         1.006          0.738          0              0              0              74
  39  Tomato          -1.727         0.966          -1.013         0              0              0              66
  40  Potato          -1.750         0.586          -0.081         0              90             0              89
  41  DishSponge      0.107          0.925          -0.190         0              0              0              74
  42  Spoon           1.117          0.912          -1.318         0              0              0              66
  43  Mug             1.932          0.906          0.182          0              0              0              66
  44  Bowl            -0.320         0.924          1.202          0              0              0              74
  45  Cabinet         -0.495         0.474          -1.149         0              0              0
  46  Window          -0.010         1.582          -1.821         0              0              0
  47  Drawer          0.805          0.475          -1.159         0              0              0
  48  StoveBurner     1.764          0.902          0.601          0              270            0
  49  Drawer          1.5            0.196          -0.019         0              0              0
  50  Drawer          1.5            0.629          -0.018         0              0              0
  51  Drawer          1.5            0.602          -0.019         0              270            0
  52  StoveBurner     1.975          0.902          0.384          0              270            0
  53  Cabinet         -1.703         2.022          -1.453         0              90             0
  54  Cabinet         1.789          2.019          -0.819         0              270            0
  55  Cabinet         0.494          0.474          -1.149         0              0              0
  56  Cabinet         0.409          0.475          0.444          0              0              0
  57  Drawer          -0.696         0.475          -1.159         0              0              0
  58  Drawer          1.5            0.140          0.599          0              270            0
  59  Cabinet         1.389          0.474          -1.149         0              0              0
  60  Drawer          1.5            0.305          0.600          0              0              0
  61  StoveBurner     1.975          0.902          0.601          0              270            0
  62  Drawer          1.5            0.429          -0.019         0              0              0
  63  StoveBurner     1.764          0.902          0.819          0              270            0
  64  Drawer          1.5            0.519          1.220          0              0              0
  65  Cabinet         1.705          2.019          -1.449         0              0              0
  66  CounterTop      0.002          0.947          -1.513         0              0              0
  67  Drawer          1.5            0.629          0.605          0              0              0
  68  Cabinet         -0.627         2.019          -1.449         0              0              0
  69  StoveBurner     1.764          0.902          0.384          0              270            0
  70  Drawer          1.5            0.538          0.600          0              0              0
  71  Sink            0.0            0.893          -1.434         0              0              0
  72  Drawer          1.5            0.782          1.220          0              270            0
  73  Window          2.217          1.565          -0.384         0              0              0
  74  CounterTop      -0.014         0.961          0.505          0              0              0
  75  Drawer          1.5            0.200          1.220          0              0              0
  76  StoveBurner     1.975          0.902          0.819          0              270            0
  77  Window          -3.240         1.616          2.693          0              270            0
  78  Cabinet         -1.389         0.474          -1.149         0              0              0
  79  LightSwitch     -0.153         1.291          3.700          0              180            0
  80  GarbageCan      -1.796         0.009          1.330          0              270            358.295
  81  StoveKnob       1.602          0.917          0.570          0              270            180
  82  StoveKnob       1.602          0.917          0.625          0              270            180
  83  StoveKnob       1.602          0.917          0.739          0              270            180
  84  StoveKnob       1.602          0.917          0.680          0              270            180
  85  StoveKnob       1.602          0.917          0.462          0              270            180
  86  StoveKnob       1.602          0.917          0.517          0              270            180
  87  Microwave       1.932          0.899          -0.766         0              270            0
  88  CoffeeMachine   1.355          0.899          -1.596         0              0              0
  89  Fridge          -1.764         0.0            0.014          0              90             0
  90  SinkBasin       -0.014         0.736          -1.435         0              0              0
  91  Toaster         1.977          0.900          -0.336         0              270            0
  92  Faucet          -0.020         1.137          -1.605         0              270            0
  93  Chair           -9.354         0.000          1.242          0              180            0
  94  NorthWall
  95  EastWall
  96  SouthWall
  97  WestWall

Plan:
STEP 1: Turn to the left, go to the wall, turn to the right, go forward to the counter of the left where the yellow handled knife is.  | STEP 2: Pick up the yellow handled knife that is on the counter.  | STEP 3: Turn to the left, go forward to the counter, turn to the right, go forward to the counter, turn to the right, go forward, turn to the counter on the right where the bread and lettuce is. | STEP 4: Use the knife to cut the lettuce into slices.  | STEP 5: Turn to the right, go forward, turn to the right to face the fridge. | STEP 6: Open the fridge, put the knife inside, close the fridge.  | STEP 7: Turn to the right, go forward, turn to the right to the counter where the sliced lettuce is.  | STEP 8: Pick up a slice of lettuce from the counter.  | STEP 9: Turn to the right, go forward, turn to the right to face the fridge.  | STEP 10: Open the fridge, put the lettuce inside, close the door, remove the cold lettuce from the fridge, close the door.  | STEP 11: Turn to the left, go forward to the counter, hang a right, go forward to the sink that is on the left.  | STEP 12: Put the lettuce in the sink. | END