Task: place a cold lettuce slice 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: move forward to the table | STEP 2: pick up the knife | STEP 3: turn to the other part of the table | STEP 4: slice the lettuce on the table | STEP 5: turn around to the fridge  | STEP 6: drop the knife in the fridge | STEP 7: turn around to the table | STEP 8: pick up a slice of the lettuce | STEP 9: turn around to the fridge | STEP 10: place the lettuce to cool in the fridge and take it out | STEP 11: turn left and head to the sink | STEP 12: place the lettuce in the sink | END