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           -2.0           0.900          2.25           0              0              0
   1  ButterKnife     -0.147         0.823          0.426          0              0              0              42
   2  Fork            -1.542         0.824          0.528          0              0              0              42
   3  Spoon           -2.631         0.693          1.474          0              90             0              47
   4  Plate           -1.407         0.130          0.440          0              0              0              55
   5  SoapBottle      -0.817         0.821          0.129          0              0              0              42
   6  Bowl            -2.648         0.118          1.550          0              0              0              53
   7  Bowl            -2.540         1.845          2.368          0              0              0              52
   8  SaltShaker      -1.151         0.818          0.055          0              0              0              42
   9  SaltShaker      -1.695         0.120          0.440          0              0              0              55
  10  PepperShaker    -1.374         0.818          0.046          0              0              0              42
  11  PepperShaker    -2.859         1.429          1.264          0              0              0              50
  12  Mug             -2.172         0.120          0.401          0              90             0              54
  13  Apple           -0.295         0.129          2.539          0              0              0              62
  14  Apple           -0.362         0.129          2.674          0              90             0              62
  15  Fork            -2.957         0.824          0.203          0              90             0              42
  16  Ladle           -0.371         0.738          0.879          0              45             0              44
  17  Pan             -0.244         0.829          1.684          0              0              0              41
  18  SoapBottle      -0.477         0.821          1.326          0              0              0              42
  19  Pot             -0.531         0.822          2.096          0              0              0              39
  20  Tomato          -2.581         0.873          0.953          0              0              0              42
  21  Potato          -2.504         0.862          0.462          0              0              0              42
  22  SaltShaker      -1.885         0.120          0.362          0              0              0              54
  23  Plate           -2.586         0.813          0.309          0              0              0              42
  24  Spatula         -0.169         0.838          0.992          0              90             0              42
  25  Knife           -2.044         0.849          0.498          0              0              0              42
  26  Egg             -0.817         0.847          0.203          0              0              0              42
  27  Cup             -2.840         0.823          0.203          0              0              0              42
  28  ButterKnife     -2.724         0.813          0.352          0              0              0              42
  29  Lettuce         -1.836         0.741          0.238          0              55.910         0              69
  30  PepperShaker    -0.477         0.818          0.658          0              0              0              42
  31  DishSponge      -2.882         1.434          1.588          0              0              0              50
  32  Bread           -0.979         0.855          0.250          0              30.038         0              42
  33  Spoon           -1.151         0.812          0.277          0              180            0              42
  34  Mug             -2.813         0.818          0.871          0              90             0              42
  35  Bowl            -2.810         0.918          1.284          0              90             0              61
  36  Cabinet         -2.377         2.015          1.720          0              0              0
  37  StoveBurner     -0.244         0.820          2.075          0              180            0
  38  Drawer          -0.402         0.703          1.252          0              0              0
  39  StoveBurner     -0.518         0.820          2.075          0              180            0
  40  Sink            -1.838         0.726          0.343          0              180            0
  41  StoveBurner     -0.244         0.820          1.684          0              0              0
  42  CounterTop      -1.557         0.859          0.277          0              0              0
  43  StoveBurner     -0.518         0.820          1.684          0              0              0
  44  Drawer          -0.404         0.704          0.912          0              0              0
  45  Drawer          -0.861         0.709          0.420          0              0              0
  46  Drawer          -1.133         0.706          0.418          0              0              0
  47  Drawer          -2.589         0.703          1.511          0              0              0
  48  Cabinet         -2.772         1.803          0.508          0              0              0
  49  Cabinet         -2.460         1.803          0.231          0              0              0
  50  Cabinet         -2.781         1.798          0.825          0              0              0
  51  Cabinet         -2.781         1.798          0.815          0              0              0
  52  Cabinet         -2.377         2.009          2.581          0              0              0
  53  Cabinet         -2.442         0.385          1.672          0              0              0
  54  Cabinet         -2.238         0.385          0.564          0              0              0
  55  Cabinet         -1.286         0.385          0.564          0              0              0
  56  Cabinet         -1.262         0.385          0.565          0              0              0
  57  Cabinet         -0.734         0.385          0.565          0              0              0
  58  Cabinet         -0.549         0.385          0.751          0              0              0
  59  Cabinet         -0.549         0.385          1.412          0              0              0
  60  Fridge          -2.782         0.0            2.221          0              0              0
  61  Microwave       -2.794         0.812          1.348          0              90             0
  62  GarbageCan      -0.329         2.205          2.606          0              0              0
  63  StoveKnob       -0.069         0.998          1.773          0              180            107.470
  64  StoveKnob       -0.069         0.998          1.613          0              180            107.470
  65  StoveKnob       -0.069         0.998          2.171          0              180            107.470
  66  StoveKnob       -0.069         0.998          2.024          0              180            107.470
  67  Window          -1.720         1.342          -0.208         90             0              0
  68  Toaster         -0.171         0.812          0.735          0              270            0
  69  SinkBasin       -1.745         0.687          0.295          0              0              0
  70  CoffeeMachine   -0.539         0.812          0.185          0              0              0
  71  LightSwitch     -0.615         1.378          3.0            0              180            0
  72  Faucet          -1.686         0.954          0.176          0              236.223        0
  73  Stool           -1.008         0.008          1.955          0              18.279         0
  74  NorthWall
  75  EastWall
  76  SouthWall
  77  WestWall

Plan:
STEP 1: Turn around and cross the room to the sink. | STEP 2: Pick up the head of lettuce from inside the sink. | STEP 3: Turn around and hang a left at the wall to face the fridge. | STEP 4: Open the fridge, put the lettuce on the second shelf from the top, let it chill for seven seconds, remove the lettuce and close the door. | STEP 5: Turn around and hang a right at the stove to return to the sink. | STEP 6: Put the lettuce into the left side of the sink. | END