Task: Put a chilled head of lettuce 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          1.25           0              0              0
   1  Potato          1.276          0.925          2.034          0              90             0              74
   2  ButterKnife     0.668          0.772          0.451          0              0              0              43
   3  Spoon           1.404          0.772          3.223          0              0              0              44
   4  Spoon           1.314          0.993          0.213          0              0              0              51
   5  Egg             1.442          0.941          2.576          0              90             0              74
   6  Plate           1.571          0.142          4.724          0              0              0              53
   7  Knife           -0.096         0.789          6.787          0              0              0              87
   8  Knife           0.124          0.801          0.451          0              90             0              48
   9  Tomato          0.256          0.809          6.240          0              135            0              87
  10  SoapBottle      0.885          0.143          0.418          0              0              0              57
  11  SoapBottle      0.192          0.760          6.565          0              315            0              87
  12  Bowl            -0.378         0.759          6.698          0              135            0              87
  13  PepperShaker    0.847          0.987          0.120          0              0              0              51
  14  SaltShaker      -0.028         0.755          6.786          0              225            0              87
  15  Mug             -0.029         0.755          6.172          0              135            0              87
  16  Bowl            1.456          1.576          1.227          0              0              0              61
  17  Bread           1.099          1.048          0.434          0              0              0              51
  18  Egg             0.305          0.810          6.541          0              270            0              87
  19  Knife           -0.535         1.022          0.303          0              0              0              51
  20  Fork            -0.159         0.760          6.014          0              90             0              87
  21  Apple           -0.244         0.834          6.128          0              225            0              87
  22  Kettle          1.562          0.988          3.848          0              0              0              45
  23  Plate           1.573          0.141          2.086          0              0              0              40
  24  SaltShaker      -0.621         0.755          6.416          0              270            0              87
  25  Lettuce         0.169          0.848          6.807          0              225            0              87
  26  SoapBottle      -0.467         0.760          6.479          0              270            0              87
  27  Spatula         0.305          0.775          6.354          0              0              0              87
  28  PaperTowelRoll  0.620          1.096          0.212          0              0              0              51
  29  Pot             1.559          0.988          4.294          0              0              0              49
  30  Potato          1.442          0.925          1.983          0              90             0              74
  31  ButterKnife     1.582          0.992          3.044          0              0              0              51
  32  PepperShaker    0.081          0.755          6.503          0              135            0              87
  33  Pan             1.32           0.988          3.848          0              0              0              50
  34  Tomato          1.135          1.042          4.716          0              0              0              52
  35  DishSponge      1.140          1.579          0.207          0              0              0              58
  36  Cup             -0.611         0.988          0.395          0              0              0              51
  37  Spoon           -0.159         0.761          6.632          0              0              0              87
  38  Mug             0.064          1.092          0.213          0              0              0              67
  39  Cabinet         1.307          2.455          4.360          0              0              0
  40  Cabinet         1.054          0.422          1.710          0              0              0
  41  Drawer          1.280          0.808          4.718          0              0              0
  42  Cabinet         1.307          2.455          3.607          0              0              0
  43  Drawer          0.736          0.802          0.521          0              0              0
  44  Drawer          1.276          0.802          3.291          0              0              0
  45  StoveBurner     1.562          0.982          3.848          0              0              0
  46  StoveBurner     1.317          0.982          4.294          0              0              0
  47  Drawer          -0.482         0.802          0.521          0              0              0
  48  Drawer          0.124          0.802          0.521          0              0              0
  49  StoveBurner     1.559          0.982          4.294          0              0              0
  50  StoveBurner     1.320          0.982          3.848          0              0              0
  51  CounterTop      1.391          1.028          0.897          0              0              0
  52  CounterTop      1.391          1.028          4.716          0              0              0
  53  Cabinet         1.054          0.422          4.548          0              0              0
  54  Cabinet         1.317          2.134          0.517          0              0              0
  55  Cabinet         1.317          2.134          4.889          0              0              0
  56  Cabinet         1.317          2.134          3.095          0              0              0
  57  Cabinet         0.443          0.422          0.743          0              0              0
  58  Cabinet         1.270          2.134          0.434          0              0              0
  59  Cabinet         -0.775         0.422          0.743          0              0              0
  60  Cabinet         -0.168         0.422          0.743          0              0              0
  61  Cabinet         1.317          2.134          1.534          0              0              0
  62  Cabinet         1.054          0.422          2.990          0              0              0
  63  Cabinet         1.054          0.422          2.944          0              0              0
  64  Cabinet         -0.263         2.134          0.434          0              0              0
  65  Cabinet         0.252          2.134          0.434          0              0              0
  66  Sink            1.391          1.006          2.326          0              0              0
  67  Microwave       0.108          0.981          0.262          0              0              0
  68  HousePlant      -0.165         0.826          6.444          0              0              0
  69  CoffeeMachine   1.551          0.982          0.953          0              270            0
  70  Toaster         1.473          0.981          4.715          0              270            0
  71  Window          -2.065         1.916          3.626          90             90             0
  72  Window          1.763          2.007          2.299          90             270            0
  73  Fridge          2.035          0.0            5.625          0              0              0
  74  SinkBasin       1.387          0.880          2.338          0              90             0
  75  GarbageCan      2.001          -0.044         6.503          0              0              0
  76  StoveKnob       1.140          0.934          3.987          45             270            0
  77  StoveKnob       1.140          0.934          4.309          45             270            0
  78  StoveKnob       1.140          0.934          4.140          45             270            0
  79  StoveKnob       1.140          0.934          3.824          45             270            0
  80  Vase            -0.226         0.834          6.993          0              0              0
  81  Vase            2.098          0.043          7.070          0              257.232        0
  82  Vase            -0.594         0.835          6.130          0              225            0
  83  LightSwitch     -2.0           1.549          6.045          0              90             0
  84  Safe            2.046          1.072          7.054          0              257.232        0
  85  Faucet          1.534          1.025          2.371          0              294.391        0
  86  Blinds          1.738          2.563          2.312          0              90             0
  87  DiningTable     -0.156         0.000          6.474          0              0              0
  88  Chair           0.291          0.002          6.142          0              310.162        0
  89  GarbageBag      -1.092         0.318          0.268          270            90             83.492
  90  NorthWall
  91  EastWall
  92  SouthWall
  93  WestWall

Plan:
STEP 1: Walk forward to the table, take a right and walk to the fridge, take a left and go to the wall, take a left and face the table. | STEP 2: Pick up the head of lettuce on the left side of the table. | STEP 3: Turn left for one step, turn left for one step again, turn right for four steps and then turn left to face the refrigerator. | STEP 4: Open the refrigerator door, put the lettuce on the top shelf in the middle, shut the door for a few second, reopen the door, take the lettuce out, and shut the door again. | STEP 5: Turn around for one step, turn left and walk to the sinks, then turn left to face them. | STEP 6: Put the lettuce in the right sink to the left of the potatoes. | END