Task: place chilled lettuce in sink

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.0            0.900          -0.25          0              90             0
   1  Ladle           1.170          1.066          -1.987         0              90             0              51
   2  Ladle           2.621          1.066          0.068          0              0              0              51
   3  DishSponge      2.788          0.764          4.412          0              225            0              52
   4  WineBottle      -0.956         0.078          2.779          0              0              0              106
   5  WineBottle      2.414          0.765          3.736          0              329.999        0              52
   6  Pot             2.116          1.027          -1.84          0              270            0              55
   7  Spatula         2.599          0.779          3.97           0              0              0              52
   8  Spoon           -0.920         1.028          1.821          0              0              0              54
   9  Fork            -0.418         1.028          2.434          0              0              0              54
  10  Cup             2.368          0.763          4.558          0              329.999        0              52
  11  Knife           -0.590         0.826          2.372          0              90             0              57
  12  Knife           2.451          0.789          3.62           0              0              0              52
  13  Tomato          -0.577         0.870          1.181          0              90             0              108
  14  Tomato          2.614          1.080          1.499          0              136.999        0              51
  15  SaltShaker      -1.102         1.023          1.519          0              0              0              54
  16  SaltShaker      1.721          2.276          -1.756         0              0              0              67
  17  Bread           2.276          0.832          3.895          0              270            0              52
  18  Lettuce         2.525          0.822          4.495          0              0              0              52
  19  Mug             -0.851         0.811          1.103          0              90             0              108
  20  Mug             -0.782         0.811          1.259          0              270            0              108
  21  Apple           -0.877         1.492          -0.627         0              90             0              95
  22  Apple           -0.794         1.077          0.416          0              0              0              54
  23  Pan             1.761          1.027          -1.599         0              0              0              94
  24  Glassbottle     -1.159         1.028          1.150          0              0              0              54
  25  Knife           1.350          1.052          -1.987         0              90             0              51
  26  SoapBottle      1.529          1.025          -1.560         0              90             0              51
  27  Egg             -1.171         1.071          1.943          0              0              0              54
  28  Fork            2.658          0.765          4.282          0              225            0              52
  29  Potato          2.719          1.068          1.597          0              317.0          0              51
  30  Ladle           -0.920         1.066          2.556          0              0              0              54
  31  Tomato          2.855          0.818          3.567          0              329.999        0              52
  32  Pot             2.177          1.027          -1.599         0              0              0              50
  33  WineBottle      2.625          0.765          4.192          0              270            0              52
  34  Plate           2.368          1.027          0.711          0              136.999        0              51
  35  Spatula         2.451          0.779          3.445          0              0              0              52
  36  PaperTowelRoll  2.544          1.131          1.154          0              136.999        0              51
  37  Lettuce         2.959          1.085          0.068          0              0              0              51
  38  Apple           2.959          1.077          -0.236         0              0              0              51
  39  SaltShaker      2.275          0.760          4.118          0              270            0              52
  40  PepperShaker    2.763          0.760          3.726          0              329.999        0              52
  41  ButterKnife     2.599          0.764          3.445          0              0              0              52
  42  Bread           2.239          0.832          4.484          0              329.999        0              52
  43  Cup             2.868          0.763          4.072          0              225            0              52
  44  DishSponge      1.350          0.035          -1.501         0              0              0              70
  45  Bowl            2.423          0.762          4.166          0              329.999        0              52
  46  Spoon           1.926          0.765          3.821          0              270            0              52
  47  Mug             -1.028         0.781          -0.738         0              90             0              95
  48  Sink            -0.716         1.023          1.333          0              0              0
  49  StoveBurner     1.835          1.018          -1.840         0              90             0
  50  StoveBurner     2.177          1.018          -1.599         0              0              0
  51  CounterTop      2.812          0.992          0.675          0              0              0
  52  DiningTable     2.419          0.003          3.930          0              0              0
  53  Drawer          -0.643         0.828          0.616          0              0              0
  54  CounterTop      -0.813         1.062          2.188          0              0              0
  55  StoveBurner     2.115          1.018          -1.840         0              270            0
  56  Drawer          -0.643         0.831          1.953          0              0              0
  57  Drawer          -0.643         0.833          2.418          0              0              0
  58  Drawer          1.347          0.836          -1.539         0              0              0
  59  Drawer          2.693          0.833          -1.131         0              0              0
  60  Drawer          2.693          0.833          -0.699         0              0              0
  61  Drawer          2.693          0.833          -0.267         0              0              0
  62  Drawer          2.693          0.833          0.163          0              0              0
  63  Drawer          2.524          0.833          0.720          0              2.000          0
  64  Drawer          2.232          0.833          1.036          0              2.000          0
  65  Drawer          1.936          0.833          1.354          0              2.000          0
  66  Drawer          1.646          0.833          1.670          0              2.000          0
  67  Cabinet         1.504          2.475          -1.710         0              0              0
  68  Cabinet         -0.823         2.220          1.621          0              0              0
  69  Cabinet         -0.823         2.220          0.615          0              0              0
  70  Cabinet         1.136          0.388          -1.355         0              0              0
  71  Cabinet         -0.356         0.383          2.626          0              0              0
  72  Cabinet         2.745          2.220          -1.690         0              0              0
  73  Cabinet         1.882          0.383          1.017          0              0              0
  74  Cabinet         1.307          0.473          1.640          0              0              0
  75  Cabinet         1.892          0.383          1.006          0              0              0
  76  Cabinet         2.467          0.383          0.383          0              0              0
  77  Cabinet         2.466          0.383          -0.475         0              0              0
  78  Cabinet         2.466          0.473          0.371          0              0              0
  79  Cabinet         2.386          2.475          -1.710         0              0              0
  80  Cabinet         -0.356         0.383          1.712          0              0              0
  81  Cabinet         2.745          2.220          0.019          0              0              0
  82  Cabinet         -0.663         2.496          0.157          0              0              0
  83  Cabinet         -0.663         2.496          -0.868         0              0              0
  84  Cabinet         -0.356         0.383          0.269          0              0              0
  85  Cabinet         -0.823         2.220          1.603          0              0              0
  86  Cabinet         -0.662         2.234          0.586          0              0              0
  87  Cabinet         2.745          2.220          -0.843         0              0              0
  88  Cabinet         2.745          2.220          -0.827         0              0              0
  89  Cabinet         -0.823         2.220          2.608          0              0              0
  90  Cabinet         2.732          2.226          -1.709         0              0              0
  91  Cabinet         1.137          2.226          -1.709         0              0              0
  92  Cabinet         2.466          0.383          -0.491         0              0              0
  93  Cabinet         2.466          0.383          -1.339         0              0              0
  94  StoveBurner     1.761          1.018          -1.599         0              0              0
  95  Fridge          -0.908         0.0            -0.405         0              0              0
  96  HousePlant      2.517          1.016          1.822          0              0              0
  97  Microwave       1.939          1.745          -1.826         0              0              0
  98  StoveKnob       2.017          1.041          -1.514         0              180            180
  99  StoveKnob       1.934          1.041          -1.514         0              180            180
 100  StoveKnob       2.017          1.041          -1.589         0              180            180
 101  StoveKnob       1.934          1.041          -1.589         0              180            180
 102  Window          1.756          1.608          4.762          90             0              0
 103  HousePlant      2.171          1.004          2.091          0              0              0
 104  CoffeeMachine   -0.942         1.018          0.645          0              90             0
 105  LightSwitch     -0.099         1.410          -2.066         0              0              0
 106  GarbageCan      -0.951         -0.029         2.826          0              0              0
 107  Toaster         -1.007         1.018          2.238          0              90             0
 108  SinkBasin       -0.714         0.805          1.348          0              90             0
 109  Chair           1.615          0.004          4.310          0              107.976        0
 110  Faucet          -1.120         1.013          1.334          0              90             0
 111  Chair           2.759          0.004          3.086          0              358.967        0
 112
 113  NorthWall
 114  EastWall
 115  SouthWall
 116  WestWall

Plan:
STEP 1: go forward to counter with measuring spoon and lettuce | STEP 2: pick up lettuce from counter | STEP 3: turn around, go to black refrigerator | STEP 4: put lettuce to the left of white mug on top shelf of refrigerator, close refrigerator, take lettuce out of refrigerator, close refrigerator | STEP 5: turn right, go to sink to the left | STEP 6: place lettuce in right side of sink | END