Task: Place chilled lettuce into 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          2.5            0              180            0
   1  Statue          -0.846         0.936          -1.231         0              0              0              56
   2  Vase            0.944          0.912          -0.555         0              0              0              57
   3  CreditCard      0.859          0.908          -0.208         0              0              0              57
   4  CreditCard      -1.778         0.551          2.770          0              0              0              82
   5  DishSponge      1.082          2.207          -1.299         0              270            0              63
   6  Spoon           -0.698         0.934          -1.386         0              0              0              56
   7  Spoon           -0.772         0.934          -1.540         0              0              0              56
   8  Spatula         -1.104         0.948          -0.380         0              0              0              56
   9  Spatula         0.944          0.926          -0.208         0              0              0              57
  10  Egg             0.995          1.833          -1.339         0              270            0              78
  11  Egg             1.026          1.680          1.540          0              270            0              79
  12  Cup             -1.355         0.930          -1.167         0              0              0              56
  13  Cup             -1.363         0.551          2.615          0              0              0              82
  14  Plate           -0.753         0.783          -0.659         0              90             0              77
  15  Tomato          0.688          0.952          0.139          0              0              0              57
  16  SoapBottle      -0.477         0.933          0.239          0              0              0              56
  17  SoapBottle      -0.912         0.179          0.576          0              180            0              76
  18  Bowl            1.026          0.866          0.967          0              270            0              79
  19  PepperShaker    0.956          0.698          -0.731         0              270            0              54
  20  PepperShaker    0.915          0.490          -0.648         0              270            0              60
  21  Lettuce         -1.229         1.010          -0.118         0              0              0              56
  22  Statue          -1.167         0.936          -0.643         0              0              0              56
  23  Glassbottle     -1.570         0.554          2.667          0              0              0              82
  24  Bread           0.905          0.944          1.349          0              270            0              79
  25  CreditCard      0.773          0.908          -0.729         0              0              0              57
  26  CellPhone       -0.550         0.930          -1.231         0              0              0              56
  27  Potato          0.905          1.673          1.540          0              270            0              79
  28  Knife           -1.167         0.957          0.144          0              90             0              56
  29  Fork            -0.624         0.934          -1.618         0              0              0              56
  30  Pan             0.848          0.946          -1.080         0              0              0              50
  31  Lettuce         1.029          0.988          0.139          0              0              0              57
  32  Plate           0.966          1.405          1.349          0              270            0              79
  33  Apple           0.944          0.961          -1.879         0              0              0              62
  34  Pot             1.077          0.950          -1.504         0              0              0              52
  35  Spatula         -0.846         0.948          0.009          0              270            0              56
  36  PaperTowelRoll  -0.818         0.281          0.575          0              270            0              76
  37  Tomato          -1.054         0.217          0.576          0              180            0              76
  38  Egg             -0.808         0.818          -0.832         0              90             0              77
  39  SaltShaker      0.944          0.907          -0.729         0              0              0              57
  40  PepperShaker    0.773          0.907          -1.879         0              0              0              62
  41  Vase            1.193          1.666          0.280          0              270            0              64
  42  ButterKnife     -0.550         0.933          -1.308         0              0              0              56
  43  SoapBottle      0.964          0.121          0.374          0              270            0              51
  44  Vase            1.114          0.912          -0.381         0              0              0              57
  45  Bowl            0.905          1.138          1.349          0              270            0              79
  46  DishSponge      -1.355         0.933          -0.118         0              0              0              56
  47  Spoon           0.875          0.495          -0.607         0              90             0              60
  48  Cup             0.710          0.118          0.349          0              270            0              51
  49  Mug             1.194          1.661          -0.529         0              270            0              65
  50  StoveBurner     0.842          0.919          -1.098         0              0              0
  51  Cabinet         0.648          0.474          0.244          0              270            0
  52  StoveBurner     1.077          0.919          -1.504         0              0              0
  53  StoveBurner     0.842          0.919          -1.504         0              0              0
  54  Drawer          0.637          0.755          -0.649         0              270            0
  55  Cabinet         0.949          2.159          -2.375         0              270            0
  56  CounterTop      -1.238         0.968          -0.643         0              0              0
  57  CounterTop      0.931          0.946          -0.208         0              0              0
  58  StoveBurner     1.077          0.919          -1.098         0              0              0
  59  Drawer          0.637          0.268          -0.649         0              270            0
  60  Drawer          0.637          0.547          -0.649         0              270            0
  61  Cabinet         0.648          0.475          -1.714         0              0              0
  62  CounterTop      0.931          0.946          -2.051         0              0              0
  63  Cabinet         0.948          2.439          -1.780         0              270            0
  64  Cabinet         0.948          2.159          -0.140         0              270            0
  65  Cabinet         0.949          2.159          -0.758         0              270            0
  66  Sink            -0.699         0.927          -0.649         0              0              0
  67  LightSwitch     -2.371         1.218          3.049          0              180            0
  68  StoveKnob       0.673          0.899          -1.373         315            90             180
  69  StoveKnob       0.673          0.899          -1.519         315            90             180
  70  StoveKnob       0.673          0.899          -1.086         315            90             180
  71  StoveKnob       0.673          0.899          -1.237         315            90             180
  72  Toaster         0.984          0.900          0.329          0              270            0
  73  Window          0.014          0.998          -2.640         90             0              0
  74  Window          -2.996         0.998          -2.640         90             0              0
  75  CoffeeMachine   0.892          0.900          -2.132         0              300.130        0
  76  GarbageCan      -0.946         -0.036         0.575          0              180            0
  77  SinkBasin       -0.698         0.765          -0.647         0              90             0
  78  Microwave       1.042          1.680          -1.295         0              270            0
  79  Fridge          0.966          0.0            1.253          0              0              0
  80  HousePlant      -1.354         0.919          -1.540         0              0              0
  81  Shelf           -1.635         0.172          2.715          0              180            0
  82  Shelf           -1.635         0.552          2.715          0              180            0
  83  Shelf           -1.635         0.880          2.715          0              180            0
  84  ShelvingUnit    -1.635         0.006          2.715          0              180            0
  85  Chair           -1.832         0.002          -0.034         0              119.999        0
  86  Chair           -1.854         0.002          -0.956         0              67.887         0
  87  Faucet          -0.867         1.161          -0.651         0              0              0
  88  NorthWall
  89  EastWall
  90  SouthWall
  91  WestWall

Plan:
STEP 1: Turn to your right and step forward then turn left and and walk to the counter that is on your left past the fridge | STEP 2: Pick up the lettuce that is sitting on the counter | STEP 3: Turn around and take a step from the counter then turn right and walk to the fridge that is on your right. | STEP 4: Open the fridge and place the lettuce on the middle shelf then close the door.  Open the fridge and pick up the lettuce from the middle shelf | STEP 5: Turn left and walk to the sink on your right | STEP 6: Place the lettuce into the sink | END