Task: Place a chilled head of 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           0.75           0.900          -1.75          0              270            0
   1  Pan             1.836          1.027          -1.84          0              90             0              60
   2  Potato          2.450          0.806          4.118          0              270            0              63
   3  Potato          -0.858         0.376          -0.073         0              90             0              106
   4  Ladle           2.650          0.840          0.164          0              0              0              73
   5  DishSponge      -0.803         0.800          2.464          0              0              0              68
   6  DishSponge      2.451          0.764          3.795          0              0              0              63
   7  ButterKnife     -0.645         0.816          1.181          0              90             0              119
   8  ButterKnife     2.599          0.764          4.495          0              270            0              63
   9  WineBottle      -1.130         1.028          1.427          0              0              0              65
  10  Glassbottle     1.925          0.765          4.192          0              270            0              63
  11  Spatula         -0.577         0.831          1.414          0              0              0              119
  12  Spatula         2.594          0.817          -1.224         0              90             0              62
  13  Spoon           2.376          0.765          4.495          0              0              0              63
  14  Spoon           -0.794         1.028          1.821          0              0              0              65
  15  Fork            2.658          0.765          4.282          0              225            0              63
  16  Fork            2.959          1.027          -0.236         0              0              0              62
  17  Egg             -0.947         0.830          -0.627         0              90             0              106
  18  Egg             -0.877         1.486          -0.295         0              90             0              106
  19  Cup             3.043          1.025          -1.456         0              0              0              62
  20  Plate           2.650          0.035          0.217          0              0              0              88
  21  Plate           -0.544         1.027          2.066          0              0              0              65
  22  Knife           2.762          0.826          0.118          0              90             0              73
  23  Knife           1.230          1.052          -1.774         0              90             0              62
  24  Tomato          -1.069         0.839          -0.073         0              90             0              106
  25  SoapBottle      1.223          1.779          -1.794         0              0              0              102
  26  Bowl            2.976          0.762          3.970          0              270            0              63
  27  SaltShaker      2.706          1.023          -0.846         0              0              0              62
  28  PepperShaker    2.737          0.028          -1.280         0              0              0              104
  29  Lettuce         2.525          0.822          3.62           0              0              0              63
  30  Lettuce         -0.544         1.085          0.692          0              0              0              65
  31  Lettuce         2.276          0.822          4.044          0              270            0              63
  32  Apple           1.895          1.911          -1.876         0              0              0              108
  33  Apple           -0.987         0.836          -0.406         0              90             0              106
  34  Pan             2.754          1.026          1.350          0              136.999        0              62
  35  Glassbottle     2.626          0.765          3.747          0              270            0              63
  36  Knife           -0.645         0.841          1.492          0              0              0              119
  37  SoapBottle      2.801          0.763          3.747          0              270            0              63
  38  Egg             2.302          0.808          3.795          0              0              0              63
  39  Fork            2.790          1.027          -1.151         0              0              0              62
  40  Potato          2.101          0.806          3.821          0              270            0              63
  41  Ladle           1.956          0.803          3.685          0              225            0              63
  42  Tomato          1.290          1.080          -1.881         0              90             0              62
  43  Pot             1.334          0.023          -1.670         0              270            0              81
  44  WineBottle      2.218          0.765          3.422          0              225            0              63
  45  Plate           1.469          1.027          -1.881         0              90             0              62
  46  Spatula         -0.577         0.831          1.103          0              0              0              119
  47  PaperTowelRoll  2.662          0.868          3.455          0              329.999        0              63
  48  Lettuce         2.267          0.822          4.288          0              329.999        0              63
  49  Apple           2.626          0.814          4.044          0              270            0              63
  50  SaltShaker      2.763          0.760          4.177          0              225            0              63
  51  PepperShaker    2.525          0.760          3.445          0              0              0              63
  52  ButterKnife     2.276          0.764          3.969          0              270            0              63
  53  Bread           1.638          1.094          1.704          0              136.999        0              62
  54  Cup             -1.013         1.440          -0.627         0              90             0              106
  55  DishSponge      2.893          0.764          4.307          0              225            0              63
  56  Bowl            1.469          1.025          -1.454         0              90             0              62
  57  Spoon           2.705          0.801          -0.607         0              270            0              62
  58  Mug             -0.803         1.070          0.646          0              90             0              115
  59  Sink            -0.716         1.023          1.333          0              0              0
  60  StoveBurner     1.835          1.018          -1.840         0              90             0
  61  StoveBurner     2.177          1.018          -1.599         0              0              0
  62  CounterTop      2.812          0.992          0.675          0              0              0
  63  DiningTable     2.419          0.003          3.930          0              0              0
  64  Drawer          -0.643         0.828          0.616          0              0              0
  65  CounterTop      -0.813         1.062          2.188          0              0              0
  66  StoveBurner     2.115          1.018          -1.840         0              270            0
  67  Drawer          -0.643         0.831          1.953          0              0              0
  68  Drawer          -0.643         0.833          2.418          0              0              0
  69  Drawer          1.347          0.836          -1.539         0              0              0
  70  Drawer          2.693          0.833          -1.131         0              0              0
  71  Drawer          2.693          0.833          -0.699         0              0              0
  72  Drawer          2.693          0.833          -0.267         0              0              0
  73  Drawer          2.693          0.833          0.163          0              0              0
  74  Drawer          2.524          0.833          0.720          0              2.000          0
  75  Drawer          2.232          0.833          1.036          0              2.000          0
  76  Drawer          1.936          0.833          1.354          0              2.000          0
  77  Drawer          1.646          0.833          1.670          0              2.000          0
  78  Cabinet         1.504          2.475          -1.710         0              0              0
  79  Cabinet         -0.823         2.220          1.621          0              0              0
  80  Cabinet         -0.823         2.220          0.615          0              0              0
  81  Cabinet         1.136          0.388          -1.355         0              0              0
  82  Cabinet         -0.356         0.383          2.626          0              0              0
  83  Cabinet         2.745          2.220          -1.690         0              0              0
  84  Cabinet         1.882          0.383          1.017          0              0              0
  85  Cabinet         1.307          0.473          1.640          0              0              0
  86  Cabinet         1.892          0.383          1.006          0              0              0
  87  Cabinet         2.467          0.383          0.383          0              0              0
  88  Cabinet         2.466          0.383          -0.475         0              0              0
  89  Cabinet         2.466          0.473          0.371          0              0              0
  90  Cabinet         2.386          2.475          -1.710         0              0              0
  91  Cabinet         -0.356         0.383          1.712          0              0              0
  92  Cabinet         2.745          2.220          0.019          0              0              0
  93  Cabinet         -0.663         2.496          0.157          0              0              0
  94  Cabinet         -0.663         2.496          -0.868         0              0              0
  95  Cabinet         -0.356         0.383          0.269          0              0              0
  96  Cabinet         -0.823         2.220          1.603          0              0              0
  97  Cabinet         -0.662         2.234          0.586          0              0              0
  98  Cabinet         2.745          2.220          -0.843         0              0              0
  99  Cabinet         2.745          2.220          -0.827         0              0              0
 100  Cabinet         -0.823         2.220          2.608          0              0              0
 101  Cabinet         2.732          2.226          -1.709         0              0              0
 102  Cabinet         1.137          2.226          -1.709         0              0              0
 103  Cabinet         2.466          0.383          -0.491         0              0              0
 104  Cabinet         2.466          0.383          -1.339         0              0              0
 105  StoveBurner     1.761          1.018          -1.599         0              0              0
 106  Fridge          -0.908         0.0            -0.405         0              0              0
 107  HousePlant      2.517          1.016          1.822          0              0              0
 108  Microwave       1.939          1.745          -1.826         0              0              0
 109  StoveKnob       2.017          1.041          -1.514         0              180            180
 110  StoveKnob       1.934          1.041          -1.514         0              180            180
 111  StoveKnob       2.017          1.041          -1.589         0              180            180
 112  StoveKnob       1.934          1.041          -1.589         0              180            180
 113  Window          1.756          1.608          4.762          90             0              0
 114  HousePlant      2.171          1.004          2.091          0              0              0
 115  CoffeeMachine   -0.942         1.018          0.645          0              90             0
 116  LightSwitch     -0.099         1.410          -2.066         0              0              0
 117  GarbageCan      -0.951         -0.029         2.826          0              0              0
 118  Toaster         -1.007         1.018          2.238          0              90             0
 119  SinkBasin       -0.714         0.805          1.348          0              90             0
 120  Chair           1.615          0.004          4.310          0              107.976        0
 121  Faucet          -1.120         1.013          1.334          0              90             0
 122  Chair           2.759          0.004          3.086          0              358.967        0
 123
 124  NorthWall
 125  EastWall
 126  SouthWall
 127  WestWall

Plan:
STEP 1: Turn right and walk ahead, veering left to the coffee maker on the left side of the sink. | STEP 2: Pick up the lettuce on the counter. | STEP 3: Walk left to the fridge. | STEP 4: Place the lettuce in the fridge, to the left of the apple. Close the door, wait a moment, and take it out again. | STEP 5: Take a couple steps right. | STEP 6: Place the lettuce in the sink. to the right of the spatula. | END