Task: Put a chilled head of lettuce in the sink basin.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.75          0.899          4.25           0              270            0
   1  Potato          -0.334         0.958          5.932          0              0              0              59
   2  Pot             -2.924         0.930          2.012          0              0              0              57
   3  Fork            -0.181         0.925          4.944          0              0              0              59
   4  Fork            -4.108         0.924          5.159          0              90             0              74
   5  Spoon           -2.026         0.924          1.648          0              0              0              56
   6  Spatula         -4.517         0.938          3.432          0              90             0              74
   7  Spatula         -4.335         0.938          4.122          0              90             0              74
   8  Plate           -2.583         1.547          1.666          0              0              0              104
   9  Knife           -0.334         0.954          5.603          0              0              0              59
  10  Knife           -1.610         0.953          1.8            0              90             0              56
  11  SoapBottle      -0.181         0.924          5.603          0              0              0              59
  12  Bowl            -4.266         1.453          2.018          0              45             0              75
  13  SaltShaker      -0.488         0.921          5.603          0              0              0              53
  14  SaltShaker      -2.015         0.742          1.956          0              0              0              72
  15  PepperShaker    -4.312         0.919          2.649          0              0              0              74
  16  PepperShaker    -4.132         0.750          2.324          0              0              0              54
  17  Lettuce         -0.334         1.020          4.944          0              0              0              59
  18  Lettuce         -2.026         1.018          1.875          0              0              0              56
  19  Lettuce         -4.172         1.018          2.300          0              0              0              74
  20  Bread           -4.411         1.003          5.159          0              90             0              74
  21  Bread           -4.411         1.003          4.640          0              90             0              74
  22  Mug             -3.474         0.077          5.268          0              90             0              92
  23  Mug             -0.409         0.955          6.557          0              270            0              95
  24  Egg             -4.184         0.959          4.122          0              90             0              74
  25  Apple           -1.610         0.976          1.573          0              0              0              56
  26  Knife           -1.777         0.953          1.875          0              0              0              56
  27  Potato          -0.565         0.958          5.273          0              0              0              59
  28  Fork            -3.255         0.924          5.182          0              90             0              74
  29  Bowl            -3.163         0.076          5.193          0              90             0              52
  30  Plate           -1.776         0.082          1.931          0              0              0              90
  31  Lettuce         -3.748         0.164          6.333          0              270            0              100
  32  Bread           -0.411         1.004          5.273          0              0              0              59
  33  Tomato          -4.033         0.980          4.122          0              90             0              74
  34  WineBottle      -4.097         0.081          3.465          0              0              0              79
  35  Spatula         -4.242         0.938          2.416          0              0              0              74
  36  PaperTowelRoll  -0.565         1.029          5.932          0              0              0              59
  37  Cup             -0.334         0.923          4.615          0              0              0              59
  38  Pencil          -3.124         0.745          5.192          0              90             0              86
  39  Pan             -2.454         0.933          2.023          0              240.000        0              62
  40  Pot             -2.469         0.930          1.712          0              270            0              89
  41  SaltShaker      -3.798         0.743          1.926          0              0              0              51
  42  SoapBottle      -0.488         0.924          4.615          0              0              0              59
  43  PepperShaker    -3.452         0.743          5.221          0              180            0              65
  44  ButterKnife     -2.026         0.923          1.648          0              270            0              56
  45  DishSponge      -0.532         0.745          6.152          0              270            0              85
  46  Spoon           -3.494         0.924          5.259          0              90             0              74
  47  Mug             -0.181         0.920          4.615          0              0              0              59
  48  Cabinet         -3.203         1.931          1.777          0              0              0
  49  Cabinet         -3.187         0.390          2.089          0              0              0
  50  Cabinet         -0.637         0.387          6.882          0              180            0
  51  Drawer          -3.797         0.781          1.961          0              0              0
  52  Cabinet         -3.036         0.387          5.029          0              90             0
  53  Drawer          -0.509         0.775          5.268          0              270            0
  54  Drawer          -4.125         0.798          2.499          0              0              0
  55  Cabinet         -0.331         2.249          4.308          0              180            0
  56  CounterTop      -1.872         0.958          1.799          0              0              0
  57  StoveBurner     -2.924         0.924          2.012          0              0              0
  58  Cabinet         -0.331         2.249          6.806          0              180            0
  59  CounterTop      -0.345         0.960          5.603          0              0              0
  60  Cabinet         -3.039         1.935          5.321          0              90             0
  61  Cabinet         -3.922         0.397          2.088          0              0              0
  62  StoveBurner     -2.467         0.924          2.012          0              0              0
  63  Cabinet         -0.331         2.249          5.505          0              180            0
  64  Drawer          -0.509         0.775          4.617          0              270            0
  65  Drawer          -3.509         0.777          5.157          0              180            0
  66  Cabinet         -3.961         0.388          2.878          0              0              0
  67  Cabinet         -3.961         0.388          4.342          0              0              0
  68  Cabinet         -0.637         0.387          5.582          0              180            0
  69  Cabinet         -0.637         0.388          4.299          0              180            0
  70  Cabinet         -0.637         0.388          5.599          0              180            0
  71  StoveBurner     -2.924         0.924          1.712          0              180            0
  72  Drawer          -1.859         0.775          1.961          0              0              0
  73  Cabinet         -0.331         2.249          5.609          0              180            0
  74  CounterTop      -4.260         0.958          4.943          0              90             0
  75  Cabinet         -4.284         1.931          2.226          0              0              0
  76  Cabinet         -0.331         2.249          3.010          0              180            0
  77  Drawer          -3.801         0.777          5.157          0              180            0
  78  Cabinet         -4.112         1.935          5.321          0              90             0
  79  Cabinet         -3.968         0.388          3.662          0              0              0
  80  Drawer          -3.418         0.777          1.961          0              0              0
  81  Drawer          -4.090         0.777          4.661          0              90             0
  82  Faucet          -4.441         0.909          3.288          270            0              0
  83  Cabinet         -0.331         2.249          4.207          0              180            0
  84  Cabinet         -3.961         0.388          2.119          0              0              0
  85  Drawer          -0.509         0.775          5.920          0              270            0
  86  Drawer          -3.193         0.777          5.157          0              180            0
  87  Cabinet         -3.968         0.388          2.894          0              0              0
  88  Cabinet         -3.667         0.387          5.029          0              90             0
  89  StoveBurner     -2.469         0.924          1.712          0              270            0
  90  Cabinet         -1.539         0.388          2.090          0              0              0
  91  Sink            -4.190         0.921          3.279          0              0              0
  92  Cabinet         -3.641         0.387          5.029          0              90             0
  93  Cabinet         -1.583         1.931          1.777          0              0              0
  94  Drawer          -0.509         0.775          6.568          0              270            0
  95  CoffeeMachine   -0.279         0.912          6.556          0              270            0
  96  StoveKnob       -2.347         1.095          1.560          288.012        180            180
  97  StoveKnob       -2.788         1.095          1.560          288.012        180            180
  98  StoveKnob       -2.965         1.095          1.560          288.012        180            180
  99  StoveKnob       -2.512         1.095          1.560          288.012        180            180
 100  GarbageCan      -3.711         -0.030         6.376          0              270            0
 101  Toaster         -3.578         0.912          1.763          0              0              0
 102  Curtains        -4.522         2.252          3.391          90             90             0
 103  Window          -4.868         1.629          3.309          90             270            0
 104  Microwave       -2.693         1.430          1.689          0              0              0
 105  LightSwitch     -1.588         1.169          1.506          0              0              0
 106  SinkBasin       -4.196         0.780          3.276          0              270            0
 107  Fridge          -0.324         -0.001         3.602          0              0              0
 108  NorthWall
 109  EastWall
 110  SouthWall
 111  WestWall

Plan:
STEP 1: Turn right and begin walking across the room, then hang a right and walk up to the counter. | STEP 2: Pick up the head of lettuce that is on the counter. | STEP 3: Turn around and take a step forward, then turn left and walk over to the fridge. | STEP 4: Open the upper fridge doors, place the head  of lettuce inside, and close the doors, after a couple seconds open the fridge and remove the head of lettuce then close the doors. | STEP 5: Turn around and walk over to the kitchen sink. | STEP 6: Place the chilled head of lettuce in the sink basin. | END