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           -1.0           0.900          6.0            0              0              0
   1  Potato          1.135          1.027          4.808          0              0              0              56
   2  DishSponge      1.079          1.579          0.339          0              0              0              62
   3  DishSponge      1.450          2.206          4.262          0              0              0              46
   4  Kettle          1.322          0.141          3.291          0              0              0              66
   5  Spatula         1.442          0.905          2.239          0              0              0              78
   6  Spatula         0.169          0.775          6.807          0              225            0              91
   7  Egg             1.442          0.941          2.679          0              90             0              78
   8  Egg             -0.269         0.810          6.588          0              135            0              91
   9  Cup             -0.096         0.756          6.941          0              0              0              91
  10  Cup             2.051          1.511          5.251          0              270            0              77
  11  Knife           -0.487         0.789          6.807          0              315            0              91
  12  SoapBottle      1.135          0.992          4.670          0              0              0              56
  13  SoapBottle      -0.334         0.760          6.742          0              135            0              91
  14  PepperShaker    1.238          0.135          2.867          0              0              0              67
  15  Bread           -0.466         0.829          6.609          0              135            0              91
  16  Lettuce         -0.535         1.081          0.578          0              0              0              55
  17  Mug             -0.308         0.987          0.578          0              0              0              55
  18  Apple           0.305          0.834          6.541          0              270            0              91
  19  Apple           0.300          0.834          6.284          0              135            0              91
  20  Bowl            1.406          0.139          2.572          0              0              0              67
  21  Bread           1.099          1.048          0.434          0              0              0              55
  22  Egg             0.064          1.147          0.213          0              0              0              71
  23  Knife           1.387          0.920          2.525          0              90             0              78
  24  Fork            1.404          0.772          3.360          0              0              0              48
  25  Apple           2.051          1.590          5.626          0              270            0              77
  26  Kettle          1.593          0.981          3.25           0              255.000        0              55
  27  Plate           1.571          0.142          4.724          0              0              0              57
  28  SaltShaker      0.028          0.755          6.941          0              0              0              91
  29  Lettuce         0.150          0.848          6.416          0              0              0              91
  30  SoapBottle      0.055          0.144          0.353          0              0              0              64
  31  Spatula         0.803          0.787          0.507          0              0              0              47
  32  PaperTowelRoll  1.956          0.185          6.528          0              0              0              79
  33  Pot             1.317          0.988          4.294          0              0              0              50
  34  Potato          1.403          1.027          0.440          0              0              0              55
  35  ButterKnife     0.735          0.772          0.507          0              0              0              47
  36  PepperShaker    0.123          0.755          6.107          0              135            0              91
  37  Pan             1.559          0.988          4.294          0              0              0              53
  38  Tomato          2.055          0.130          6.498          0              0              0              79
  39  DishSponge      -0.003         0.759          6.291          0              270            0              91
  40  Cup             0.125          0.756          6.851          0              225            0              91
  41  Spoon           -0.617         0.773          0.395          0              0              0              51
  42  Mug             1.671          0.987          2.950          0              0              0              55
  43  Cabinet         1.307          2.455          4.360          0              0              0
  44  Cabinet         1.054          0.422          1.710          0              0              0
  45  Drawer          1.280          0.808          4.718          0              0              0
  46  Cabinet         1.307          2.455          3.607          0              0              0
  47  Drawer          0.736          0.802          0.521          0              0              0
  48  Drawer          1.276          0.802          3.291          0              0              0
  49  StoveBurner     1.562          0.982          3.848          0              0              0
  50  StoveBurner     1.317          0.982          4.294          0              0              0
  51  Drawer          -0.482         0.802          0.521          0              0              0
  52  Drawer          0.124          0.802          0.521          0              0              0
  53  StoveBurner     1.559          0.982          4.294          0              0              0
  54  StoveBurner     1.320          0.982          3.848          0              0              0
  55  CounterTop      1.391          1.028          0.897          0              0              0
  56  CounterTop      1.391          1.028          4.716          0              0              0
  57  Cabinet         1.054          0.422          4.548          0              0              0
  58  Cabinet         1.317          2.134          0.517          0              0              0
  59  Cabinet         1.317          2.134          4.889          0              0              0
  60  Cabinet         1.317          2.134          3.095          0              0              0
  61  Cabinet         0.443          0.422          0.743          0              0              0
  62  Cabinet         1.270          2.134          0.434          0              0              0
  63  Cabinet         -0.775         0.422          0.743          0              0              0
  64  Cabinet         -0.168         0.422          0.743          0              0              0
  65  Cabinet         1.317          2.134          1.534          0              0              0
  66  Cabinet         1.054          0.422          2.990          0              0              0
  67  Cabinet         1.054          0.422          2.944          0              0              0
  68  Cabinet         -0.263         2.134          0.434          0              0              0
  69  Cabinet         0.252          2.134          0.434          0              0              0
  70  Sink            1.391          1.006          2.326          0              0              0
  71  Microwave       0.108          0.981          0.262          0              0              0
  72  HousePlant      -0.165         0.826          6.444          0              0              0
  73  CoffeeMachine   1.551          0.982          0.953          0              270            0
  74  Toaster         1.473          0.981          4.715          0              270            0
  75  Window          -2.065         1.916          3.626          90             90             0
  76  Window          1.763          2.007          2.299          90             270            0
  77  Fridge          2.035          0.0            5.625          0              0              0
  78  SinkBasin       1.387          0.880          2.338          0              90             0
  79  GarbageCan      2.001          -0.044         6.503          0              0              0
  80  StoveKnob       1.140          0.934          3.987          45             270            0
  81  StoveKnob       1.140          0.934          4.309          45             270            0
  82  StoveKnob       1.140          0.934          4.140          45             270            0
  83  StoveKnob       1.140          0.934          3.824          45             270            0
  84  Vase            -0.226         0.834          6.993          0              0              0
  85  Vase            2.098          0.043          7.070          0              257.232        0
  86  Vase            -0.594         0.835          6.130          0              225            0
  87  LightSwitch     -2.0           1.549          6.045          0              90             0
  88  Safe            2.046          1.072          7.054          0              257.232        0
  89  Faucet          1.534          1.025          2.371          0              294.391        0
  90  Blinds          1.738          2.563          2.312          0              90             0
  91  DiningTable     -0.156         0.000          6.474          0              0              0
  92  Chair           0.291          0.002          6.142          0              310.162        0
  93  GarbageBag      -1.092         0.318          0.268          270            90             83.492
  94  NorthWall
  95  EastWall
  96  SouthWall
  97  WestWall

Plan:
STEP 1: Turn around, walk left around the table to the opposite side. | STEP 2: Pick up the head of lettuce on the table. | STEP 3: Turn around and walk a bit right to the fridge. | STEP 4: Place the lettuce in the fridge on the bottom shelf, left side. Close the door, wait a moment, and take it out again. | STEP 5: Turn right and walk along the counter to the sink. | STEP 6: Place the lettuce in the right sink basin. | END