Task: Put a frozen head of lettuce into the kitchen sink

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -4.25          0.900          -2.75          0              180            0
   1  Glassbottle     -0.499         0.082          -1.712         0              0              0              49
   2  Pencil          -2.438         0.923          -1.654         0              0              0              79
   3  Pencil          -0.837         0.746          -3.527         0              90             0              53
   4  Pen             -0.026         0.918          -2.001         0              90             0              54
   5  DishSponge      -1.943         0.026          -3.799         0              0              0              70
   6  ButterKnife     -2.552         0.923          -2.115         0              0              0              79
   7  ButterKnife     -2.210         0.923          -1.884         0              0              0              79
   8  WineBottle      -2.438         0.924          -1.884         0              0              0              79
   9  WineBottle      -2.096         0.924          -2.115         0              0              0              79
  10  Spatula         -2.666         0.938          -2.345         0              0              0              79
  11  Fork            -2.552         0.924          -1.193         0              0              0              79
  12  Spoon           -2.324         0.924          -1.423         0              0              0              79
  13  Spoon           -2.324         0.924          -2.345         0              180            0              79
  14  Plate           -0.357         1.533          -3.644         0              45             0              62
  15  Cup             -0.743         0.914          -3.768         0              0              0              54
  16  Cup             -0.600         0.914          -3.839         0              0              0              54
  17  Egg             -1.098         1.663          -3.770         0              0              0              67
  18  SoapBottle      -2.438         0.922          -1.193         0              0              0              79
  19  SoapBottle      -0.743         0.904          -3.555         0              0              0              54
  20  SaltShaker      -0.420         0.743          -3.297         0              0              0              65
  21  PepperShaker    -0.508         0.743          -3.327         0              0              0              65
  22  Mug             -2.666         0.918          -2.115         0              0              0              79
  23  Mug             -1.257         1.625          -3.936         0              90             0              67
  24  Apple           -1.257         1.703          -3.804         0              0              0              67
  25  Lettuce         -2.562         1.002          -1.677         36.385         0              0              79
  26  Glassbottle     -0.186         1.528          -2.809         0              0              0              66
  27  Egg             -1.098         1.663          -3.837         0              0              0              67
  28  Pen             -0.600         0.909          -3.626         0              0              0              54
  29  Fork            -2.324         0.924          -0.963         0              0              0              79
  30  SoapBottle      -2.780         0.922          -1.654         0              0              0              79
  31  Pencil          -0.222         0.916          -3.771         0              0              0              54
  32  WineBottle      -0.186         1.528          -2.914         0              0              0              66
  33  Spatula         -0.3           0.915          -2.544         0              22.903         0              54
  34  Bread           -0.554         0.957          -3.650         0              45             358.400        54
  35  Tomato          -2.552         0.987          -1.884         0              0              0              79
  36  Pan             -1.129         0.935          -3.498         0              0              0              52
  37  Cup             -0.460         0.080          -1.895         0              0              0              49
  38  Pot             -1.515         0.935          -3.497         0              0              0              51
  39  SaltShaker      -2.210         0.919          -1.654         0              0              0              79
  40  Potato          -0.508         0.947          -3.167         0              0              0              54
  41  PepperShaker    -0.778         0.743          -3.586         0              0              0              53
  42  ButterKnife     -0.371         0.903          -3.443         0              0              0              54
  43  DishSponge      -2.096         0.923          -2.345         0              0              0              79
  44  Spoon           -2.552         0.924          -2.345         0              0              0              79
  45  Plate           -0.383         0.083          -2.201         0              0              0              59
  46  Knife           -2.438         0.946          -2.115         0              180            0              79
  47  Mug             -0.351         0.962          -3.144         0              270            0              68
  48  Bowl            -2.754         0.913          -1.174         0              18.855         0              79
  49  Cabinet         -0.582         0.388          -1.804         0              0              0
  50  StoveBurner     -1.515         0.928          -3.752         0              90             0
  51  StoveBurner     -1.515         0.928          -3.497         0              0              0
  52  StoveBurner     -1.129         0.928          -3.498         0              0              0
  53  Drawer          -0.749         0.779          -3.551         0              0              0
  54  CounterTop      -0.303         0.951          -2.793         0              0              0
  55  Cabinet         -0.883         2.140          -3.687         0              0              0
  56  Cabinet         -0.312         2.140          -1.543         0              0              0
  57  Sink            -0.349         0.907          -2.014         0              0              0
  58  Cabinet         -0.877         0.388          -3.422         0              0              0
  59  Cabinet         -0.582         0.388          -2.197         0              0              0
  60  Cabinet         -0.584         0.388          -3.396         0              0              0
  61  Cabinet         -0.312         2.140          -2.481         0              0              0
  62  Cabinet         -0.330         1.921          -3.390         0              0              0
  63  Cabinet         -1.764         2.140          -3.687         0              0              0
  64  StoveBurner     -1.129         0.928          -3.752         0              90             0
  65  Drawer          -0.454         0.779          -3.268         0              0              0
  66  Cabinet         -0.302         1.916          -2.501         0              0              0
  67  Microwave       -1.317         1.517          -3.801         0              1.440          0
  68  CoffeeMachine   -0.153         0.903          -3.144         0              270            0
  69  LightSwitch     -4.323         1.319          0.0            0              180            0
  70  GarbageCan      -1.943         -7.152         -3.763         0              0              0
  71  Fridge          -0.330         0.0            -0.769         0              270            0
  72  SinkBasin       -0.350         0.786          -2.018         0              270            0
  73  StoveKnob       -1.582         1.082          -3.958         72.287         0              0
  74  StoveKnob       -1.177         1.082          -3.958         72.287         0              0
  75  StoveKnob       -1.424         1.082          -3.958         72.287         0              0
  76  StoveKnob       -1.028         1.082          -3.958         72.287         0              0
  77  Toaster         -0.181         0.903          -2.764         0              270            0
  78  Window          -2.503         1.782          -4.185         90             180            0
  79  DiningTable     -2.432         0.000          -1.694         0              270            0
  80  Shelf           -2.432         0.150          -1.694         0              270            0
  81  Blinds          -2.536         2.699          -3.959         0              0              0
  82  Faucet          -0.079         0.904          -2.034         270            180            0
  83  Chair           -3.264         0.002          -2.094         0              53.280         0
  84  Chair           -3.240         0.002          -1.253         0              117.257        0
  85  Shelf           -2.432         0.523          -1.694         0              270            0
  86  NorthWall
  87  EastWall
  88  SouthWall
  89  WestWall

Plan:
STEP 1: Turn left and go to the stove then turn left and go to the table and turn left to face the counter | STEP 2: Pick up the lettuce from the table | STEP 3: Turn right and go to the end of the table then turn right and go to the fridge | STEP 4: Put the lettuce in the bottom freezer drawer to freeze, then take the lettuce out of the freezer drawer | STEP 5: Turn right and go as far as the sink then turn left | STEP 6: Put the lettuce in the sink | END