Task: Place two heads of lettuce in 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           1.0            0.900          6.75           0              90             0
   1  Potato          -0.028         0.794          6.786          0              315            0              91
   2  DishSponge      1.135          0.992          1.122          0              0              0              55
   3  DishSponge      0.036          0.759          6.940          0              225            0              91
   4  Kettle          -0.096         0.761          6.014          0              0              0              91
   5  Kettle          1.562          0.988          3.848          0              0              0              49
   6  Pot             1.317          0.988          4.294          0              0              0              50
   7  Spoon           -0.617         0.772          0.563          0              0              0              51
   8  Spoon           -0.617         0.773          0.451          0              0              0              51
   9  Cup             2.094          1.511          5.501          0              270            0              77
  10  Plate           0.745          0.144          0.418          0              0              0              61
  11  Plate           1.322          0.141          2.720          0              0              0              67
  12  Knife           0.803          0.802          0.563          0              270            0              47
  13  Knife           -0.284         0.789          6.478          0              90             0              91
  14  SoapBottle      -0.762         0.992          0.303          0              0              0              55
  15  SoapBottle      0.501          1.579          0.383          0              180            0              69
  16  PepperShaker    -0.346         0.755          6.941          0              0              0              91
  17  Lettuce         0.150          0.848          6.354          0              270            0              91
  18  Mug             0.064          1.092          0.278          0              0              0              71
  19  Apple           0.059          0.834          6.698          0              225            0              91
  20  Bowl            1.322          0.139          3.365          0              0              0              66
  21  Bread           1.099          1.048          0.434          0              0              0              55
  22  Egg             1.135          1.042          1.350          0              0              0              55
  23  Knife           -0.510         0.789          6.565          0              225            0              91
  24  Fork            -0.221         0.760          6.787          0              0              0              91
  25  Apple           -0.443         0.834          6.851          0              135            0              91
  26  Kettle          1.593          0.981          3.25           0              255.000        0              55
  27  Plate           1.573          0.141          3.143          0              0              0              66
  28  SaltShaker      -0.003         0.755          6.291          0              180            0              91
  29  Lettuce         0.257          0.848          6.719          0              225            0              91
  30  SoapBottle      -0.344         0.144          0.429          0              0              0              63
  31  Spatula         1.671          1.007          0.213          0              0              0              55
  32  PaperTowelRoll  1.135          1.096          4.808          0              0              0              56
  33  Pot             1.559          0.988          4.294          0              0              0              53
  34  Potato          1.332          0.931          2.525          0              90             0              78
  35  ButterKnife     1.493          0.992          3.511          0              0              0              55
  36  PepperShaker    0.300          0.755          6.284          0              135            0              91
  37  Pan             1.313          0.985          4.284          0              0              0              50
  38  Tomato          1.966          1.565          5.251          0              270            0              77
  39  DishSponge      1.497          0.890          2.474          0              90             0              78
  40  Cup             1.143          0.137          4.802          0              0              0              57
  41  Spoon           -0.093         0.761          6.633          0              225            0              91
  42  Mug             -0.357         0.755          6.500          0              135            0              91
  43  Cabinet         1.307          2.455          4.360          0              0              0
  44  Cabinet         1.054          0.422          1.710          0              0              0
  45  Drawer          1.280          0.808          4.718          0              0              0
  46  Cabinet         1.307          2.455          3.607          0              0              0
  47  Drawer          0.736          0.802          0.521          0              0              0
  48  Drawer          1.276          0.802          3.291          0              0              0
  49  StoveBurner     1.562          0.982          3.848          0              0              0
  50  StoveBurner     1.317          0.982          4.294          0              0              0
  51  Drawer          -0.482         0.802          0.521          0              0              0
  52  Drawer          0.124          0.802          0.521          0              0              0
  53  StoveBurner     1.559          0.982          4.294          0              0              0
  54  StoveBurner     1.320          0.982          3.848          0              0              0
  55  CounterTop      1.391          1.028          0.897          0              0              0
  56  CounterTop      1.391          1.028          4.716          0              0              0
  57  Cabinet         1.054          0.422          4.548          0              0              0
  58  Cabinet         1.317          2.134          0.517          0              0              0
  59  Cabinet         1.317          2.134          4.889          0              0              0
  60  Cabinet         1.317          2.134          3.095          0              0              0
  61  Cabinet         0.443          0.422          0.743          0              0              0
  62  Cabinet         1.270          2.134          0.434          0              0              0
  63  Cabinet         -0.775         0.422          0.743          0              0              0
  64  Cabinet         -0.168         0.422          0.743          0              0              0
  65  Cabinet         1.317          2.134          1.534          0              0              0
  66  Cabinet         1.054          0.422          2.990          0              0              0
  67  Cabinet         1.054          0.422          2.944          0              0              0
  68  Cabinet         -0.263         2.134          0.434          0              0              0
  69  Cabinet         0.252          2.134          0.434          0              0              0
  70  Sink            1.391          1.006          2.326          0              0              0
  71  Microwave       0.108          0.981          0.262          0              0              0
  72  HousePlant      -0.165         0.826          6.444          0              0              0
  73  CoffeeMachine   1.551          0.982          0.953          0              270            0
  74  Toaster         1.473          0.981          4.715          0              270            0
  75  Window          -2.065         1.916          3.626          90             90             0
  76  Window          1.763          2.007          2.299          90             270            0
  77  Fridge          2.035          0.0            5.625          0              0              0
  78  SinkBasin       1.387          0.880          2.338          0              90             0
  79  GarbageCan      2.001          -0.044         6.503          0              0              0
  80  StoveKnob       1.140          0.934          3.987          45             270            0
  81  StoveKnob       1.140          0.934          4.309          45             270            0
  82  StoveKnob       1.140          0.934          4.140          45             270            0
  83  StoveKnob       1.140          0.934          3.824          45             270            0
  84  Vase            -0.226         0.834          6.993          0              0              0
  85  Vase            2.098          0.043          7.070          0              257.232        0
  86  Vase            -0.594         0.835          6.130          0              225            0
  87  LightSwitch     -2.0           1.549          6.045          0              90             0
  88  Safe            2.046          1.072          7.054          0              257.232        0
  89  Faucet          1.534          1.025          2.371          0              294.391        0
  90  Blinds          1.738          2.563          2.312          0              90             0
  91  DiningTable     -0.156         0.000          6.474          0              0              0
  92  Chair           0.291          0.002          6.142          0              310.162        0
  93  GarbageBag      -1.092         0.318          0.268          270            90             83.492
  94  NorthWall
  95  EastWall
  96  SouthWall
  97  WestWall

Plan:
STEP 1: Turn around and face the table. | STEP 2: Pick up the lettuce on the right. | STEP 3: Turn left and walk along the counter to the sink on the left. | STEP 4: Place the lettuce in the right part of the sink. | STEP 5: Turn left and walk back to the same side of the table. | STEP 6: Pick up the other head of lettuce. | STEP 7: Turn left and walk back to the sink. | STEP 8: Place the lettuce in the sink to the right of the other lettuce. | END