Task: Pick up a head of lettuce, refrigerate it, place it 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           1.0            0.900          2.75           0              90             0
   1  Pan             1.761          1.027          -1.599         0              0              0              92
   2  ButterKnife     2.976          0.764          3.895          0              270            0              50
   3  WineBottle      2.733          0.035          0.119          0              0              0              90
   4  Spoon           2.544          1.028          1.154          0              136.999        0              49
   5  Cup             -1.028         0.784          -0.406         0              90             0              93
   6  Cup             -0.782         0.815          1.103          0              90             0              106
   7  Plate           1.469          1.027          -1.560         0              90             0              49
   8  Plate           -0.945         1.782          1.305          0              0              0              83
   9  Knife           -0.669         1.052          2.556          0              0              0              52
  10  Tomato          -0.669         1.081          2.189          0              0              0              52
  11  Tomato          3.043          1.080          -0.846         0              0              0              49
  12  SaltShaker      -0.660         0.797          2.061          0              0              0              54
  13  PepperShaker    2.455          0.797          0.719          0              317.0          0              61
  14  Bread           -0.968         1.510          -0.295         0              90             0              93
  15  Lettuce         2.395          0.822          4.362          0              329.999        0              50
  16  Lettuce         2.673          0.822          3.445          0              0              0              50
  17  Lettuce         2.426          0.822          3.735          0              225            0              50
  18  Mug             -0.803         1.070          0.646          0              90             0              102
  19  Apple           -0.418         1.077          0.877          0              0              0              52
  20  Apple           -0.987         0.836          -0.073         0              90             0              93
  21  Pan             2.276          0.764          4.044          0              90             0              50
  22  Glassbottle     -0.858         0.335          -0.295         0              90             0              93
  23  Knife           2.113          0.789          3.527          0              45             0              50
  24  SoapBottle      -0.997         0.075          2.748          0              0              0              104
  25  Egg             1.925          0.808          4.192          0              270            0              50
  26  Fork            2.231          1.027          1.699          0              136.999        0              49
  27  Potato          2.021          1.068          1.503          0              136.999        0              49
  28  Ladle           -0.852         2.329          -0.154         0              0              0              80
  29  Tomato          -0.851         0.870          1.259          0              90             0              106
  30  Pot             2.177          1.027          -1.599         0              0              0              48
  31  WineBottle      2.639          0.033          -0.740         0              0              0              90
  32  Plate           2.451          0.764          3.445          0              0              0              50
  33  Spatula         -0.544         1.042          0.508          0              0              0              52
  34  PaperTowelRoll  2.621          1.131          -1.151         0              0              0              49
  35  Lettuce         2.673          0.822          4.145          0              0              0              50
  36  Apple           -1.069         0.836          -0.738         0              90             0              93
  37  SaltShaker      2.568          1.777          -1.794         0              0              0              88
  38  PepperShaker    2.855          0.760          3.567          0              329.999        0              50
  39  ButterKnife     2.975          0.764          4.118          0              270            0              50
  40  Bread           2.451          0.832          3.97           0              0              0              50
  41  Cup             1.882          1.025          1.653          0              136.999        0              49
  42  DishSponge      -0.519         0.800          1.953          0              0              0              54
  43  Bowl            2.116          2.277          -1.832         0              0              0              77
  44  Spoon           -0.645         0.817          1.181          0              90             0              106
  45  Mug             -0.645         0.811          1.492          0              90             0              106
  46  Sink            -0.716         1.023          1.333          0              0              0
  47  StoveBurner     1.835          1.018          -1.840         0              90             0
  48  StoveBurner     2.177          1.018          -1.599         0              0              0
  49  CounterTop      2.812          0.992          0.675          0              0              0
  50  DiningTable     2.419          0.003          3.930          0              0              0
  51  Drawer          -0.643         0.828          0.616          0              0              0
  52  CounterTop      -0.813         1.062          2.188          0              0              0
  53  StoveBurner     2.115          1.018          -1.840         0              270            0
  54  Drawer          -0.643         0.831          1.953          0              0              0
  55  Drawer          -0.643         0.833          2.418          0              0              0
  56  Drawer          1.347          0.836          -1.539         0              0              0
  57  Drawer          2.693          0.833          -1.131         0              0              0
  58  Drawer          2.693          0.833          -0.699         0              0              0
  59  Drawer          2.693          0.833          -0.267         0              0              0
  60  Drawer          2.693          0.833          0.163          0              0              0
  61  Drawer          2.524          0.833          0.720          0              2.000          0
  62  Drawer          2.232          0.833          1.036          0              2.000          0
  63  Drawer          1.936          0.833          1.354          0              2.000          0
  64  Drawer          1.646          0.833          1.670          0              2.000          0
  65  Cabinet         1.504          2.475          -1.710         0              0              0
  66  Cabinet         -0.823         2.220          1.621          0              0              0
  67  Cabinet         -0.823         2.220          0.615          0              0              0
  68  Cabinet         1.136          0.388          -1.355         0              0              0
  69  Cabinet         -0.356         0.383          2.626          0              0              0
  70  Cabinet         2.745          2.220          -1.690         0              0              0
  71  Cabinet         1.882          0.383          1.017          0              0              0
  72  Cabinet         1.307          0.473          1.640          0              0              0
  73  Cabinet         1.892          0.383          1.006          0              0              0
  74  Cabinet         2.467          0.383          0.383          0              0              0
  75  Cabinet         2.466          0.383          -0.475         0              0              0
  76  Cabinet         2.466          0.473          0.371          0              0              0
  77  Cabinet         2.386          2.475          -1.710         0              0              0
  78  Cabinet         -0.356         0.383          1.712          0              0              0
  79  Cabinet         2.745          2.220          0.019          0              0              0
  80  Cabinet         -0.663         2.496          0.157          0              0              0
  81  Cabinet         -0.663         2.496          -0.868         0              0              0
  82  Cabinet         -0.356         0.383          0.269          0              0              0
  83  Cabinet         -0.823         2.220          1.603          0              0              0
  84  Cabinet         -0.662         2.234          0.586          0              0              0
  85  Cabinet         2.745          2.220          -0.843         0              0              0
  86  Cabinet         2.745          2.220          -0.827         0              0              0
  87  Cabinet         -0.823         2.220          2.608          0              0              0
  88  Cabinet         2.732          2.226          -1.709         0              0              0
  89  Cabinet         1.137          2.226          -1.709         0              0              0
  90  Cabinet         2.466          0.383          -0.491         0              0              0
  91  Cabinet         2.466          0.383          -1.339         0              0              0
  92  StoveBurner     1.761          1.018          -1.599         0              0              0
  93  Fridge          -0.908         0.0            -0.405         0              0              0
  94  HousePlant      2.517          1.016          1.822          0              0              0
  95  Microwave       1.939          1.745          -1.826         0              0              0
  96  StoveKnob       2.017          1.041          -1.514         0              180            180
  97  StoveKnob       1.934          1.041          -1.514         0              180            180
  98  StoveKnob       2.017          1.041          -1.589         0              180            180
  99  StoveKnob       1.934          1.041          -1.589         0              180            180
 100  Window          1.756          1.608          4.762          90             0              0
 101  HousePlant      2.171          1.004          2.091          0              0              0
 102  CoffeeMachine   -0.942         1.018          0.645          0              90             0
 103  LightSwitch     -0.099         1.410          -2.066         0              0              0
 104  GarbageCan      -0.951         -0.029         2.826          0              0              0
 105  Toaster         -1.007         1.018          2.238          0              90             0
 106  SinkBasin       -0.714         0.805          1.348          0              90             0
 107  Chair           1.615          0.004          4.310          0              107.976        0
 108  Faucet          -1.120         1.013          1.334          0              90             0
 109  Chair           2.759          0.004          3.086          0              358.967        0
 110
 111  NorthWall
 112  EastWall
 113  SouthWall
 114  WestWall

Plan:
STEP 1: Walk to the side of the round white table that is farthest from the window. | STEP 2: Pick up the head of lettuce that is nearest the window and directly behind the loaf of bread. | STEP 3: Turn to your left and walk in the direction of the silver trash can, hang a left to the fridge at the opposite end of the counter. | STEP 4: Open the fridge door and place the lettuce in front of the apple on the left side of the shelf, close the door; after cooling, open the fridge door and pick up the lettuce, close the door. | STEP 5: Turn to your right and walk to the sink in the counter to your left. | STEP 6: Place the head of lettuce in the sink. | END