Task: Put 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          3.0            0              90             0
   1  Pan             1.317          0.988          4.294          0              0              0              52
   2  Potato          0.064          1.132          0.213          0              0              0              73
   3  DishSponge      1.135          0.992          4.624          0              0              0              58
   4  DishSponge      0.544          0.992          0.120          0              0              0              57
   5  ButterKnife     0.124          0.771          0.507          0              0              0              54
   6  ButterKnife     1.348          0.771          3.291          0              0              0              50
   7  Kettle          1.562          0.988          3.848          0              0              0              51
   8  Spoon           -0.467         0.761          6.604          0              270            0              93
   9  Spatula         -0.003         0.775          6.479          0              90             0              93
  10  Spatula         -0.487         0.775          6.807          0              135            0              93
  11  Plate           -0.552         0.144          0.277          0              0              0              65
  12  Plate           0.815          0.144          0.418          0              0              0              63
  13  Knife           -0.332         0.789          6.217          0              315            0              93
  14  Knife           0.150          0.789          6.416          0              90             0              93
  15  SoapBottle      -0.013         1.579          0.382          0              180            0              70
  16  Bowl            1.486          0.140          4.724          0              0              0              59
  17  Bowl            0.622          1.578          0.207          0              0              0              71
  18  PepperShaker    1.657          0.135          2.867          0              0              0              69
  19  Lettuce         0.305          0.848          6.354          0              270            0              93
  20  Lettuce         -0.611         1.081          0.303          0              0              0              57
  21  Mug             1.135          0.987          4.808          0              0              0              58
  22  Bowl            1.573          0.139          2.572          0              0              0              69
  23  Bread           1.099          1.048          0.434          0              0              0              57
  24  Egg             -0.346         0.810          6.323          0              0              0              93
  25  Knife           1.387          0.920          2.085          0              270            0              80
  26  Fork            1.349          0.771          4.680          0              90             0              47
  27  Apple           0.273          1.171          0.213          0              0              0              73
  28  Kettle          1.559          0.988          4.294          0              0              0              55
  29  Plate           1.238          0.141          2.794          0              0              0              69
  30  SaltShaker      1.155          0.135          2.498          0              0              0              69
  31  Lettuce         0.014          0.848          6.217          0              135            0              93
  32  SoapBottle      1.367          1.576          4.633          0              90             0              61
  33  Spatula         1.225          1.007          3.511          0              180            0              57
  34  PaperTowelRoll  -0.378         0.864          6.698          0              135            0              93
  35  Pot             1.32           0.988          3.848          0              0              0              56
  36  Potato          1.276          0.925          2.525          0              180            0              80
  37  ButterKnife     1.403          0.992          1.577          0              0              0              57
  38  PepperShaker    0.036          0.755          6.940          0              225            0              93
  39  Pan             0.847          0.990          0.395          0              90             0              57
  40  Tomato          -0.357         0.809          6.500          0              135            0              93
  41  DishSponge      -0.011         0.771          0.451          0              0              0              54
  42  Cup             1.238          0.136          3.291          0              0              0              68
  43  Spoon           -0.029         0.761          6.172          0              225            0              93
  44  Mug             0.958          1.574          0.163          0              0              0              64
  45  Cabinet         1.307          2.455          4.360          0              0              0
  46  Cabinet         1.054          0.422          1.710          0              0              0
  47  Drawer          1.280          0.808          4.718          0              0              0
  48  Cabinet         1.307          2.455          3.607          0              0              0
  49  Drawer          0.736          0.802          0.521          0              0              0
  50  Drawer          1.276          0.802          3.291          0              0              0
  51  StoveBurner     1.562          0.982          3.848          0              0              0
  52  StoveBurner     1.317          0.982          4.294          0              0              0
  53  Drawer          -0.482         0.802          0.521          0              0              0
  54  Drawer          0.124          0.802          0.521          0              0              0
  55  StoveBurner     1.559          0.982          4.294          0              0              0
  56  StoveBurner     1.320          0.982          3.848          0              0              0
  57  CounterTop      1.391          1.028          0.897          0              0              0
  58  CounterTop      1.391          1.028          4.716          0              0              0
  59  Cabinet         1.054          0.422          4.548          0              0              0
  60  Cabinet         1.317          2.134          0.517          0              0              0
  61  Cabinet         1.317          2.134          4.889          0              0              0
  62  Cabinet         1.317          2.134          3.095          0              0              0
  63  Cabinet         0.443          0.422          0.743          0              0              0
  64  Cabinet         1.270          2.134          0.434          0              0              0
  65  Cabinet         -0.775         0.422          0.743          0              0              0
  66  Cabinet         -0.168         0.422          0.743          0              0              0
  67  Cabinet         1.317          2.134          1.534          0              0              0
  68  Cabinet         1.054          0.422          2.990          0              0              0
  69  Cabinet         1.054          0.422          2.944          0              0              0
  70  Cabinet         -0.263         2.134          0.434          0              0              0
  71  Cabinet         0.252          2.134          0.434          0              0              0
  72  Sink            1.391          1.006          2.326          0              0              0
  73  Microwave       0.108          0.981          0.262          0              0              0
  74  HousePlant      -0.165         0.826          6.444          0              0              0
  75  CoffeeMachine   1.551          0.982          0.953          0              270            0
  76  Toaster         1.473          0.981          4.715          0              270            0
  77  Window          -2.065         1.916          3.626          90             90             0
  78  Window          1.763          2.007          2.299          90             270            0
  79  Fridge          2.035          0.0            5.625          0              0              0
  80  SinkBasin       1.387          0.880          2.338          0              90             0
  81  GarbageCan      2.001          -0.044         6.503          0              0              0
  82  StoveKnob       1.140          0.934          3.987          45             270            0
  83  StoveKnob       1.140          0.934          4.309          45             270            0
  84  StoveKnob       1.140          0.934          4.140          45             270            0
  85  StoveKnob       1.140          0.934          3.824          45             270            0
  86  Vase            -0.226         0.834          6.993          0              0              0
  87  Vase            2.098          0.043          7.070          0              257.232        0
  88  Vase            -0.594         0.835          6.130          0              225            0
  89  LightSwitch     -2.0           1.549          6.045          0              90             0
  90  Safe            2.046          1.072          7.054          0              257.232        0
  91  Faucet          1.534          1.025          2.371          0              294.391        0
  92  Blinds          1.738          2.563          2.312          0              90             0
  93  DiningTable     -0.156         0.000          6.474          0              0              0
  94  Chair           0.291          0.002          6.142          0              310.162        0
  95  GarbageBag      -1.092         0.318          0.268          270            90             83.492
  96  NorthWall
  97  EastWall
  98  SouthWall
  99  WestWall

Plan:
STEP 1: Go up to the sink then turn left and go to the chair at the end of the mat then turn right then left to go around the chair and go to the table | STEP 2: Pick up the lettuce closest to you from the table | STEP 3: Turn around and take a step then turn right and go to the fridge | STEP 4: Put the lettuce in the fridge to chill then take the lettuce out of the fridge | STEP 5: Turn around and then turn left and go to the sink and turn to face the sink | STEP 6: Put the lettuce in the sink on the left | END