Task: To move two heads of lettuce from the table to 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           -1.25          0.901          2.75           0              270            0
   1  Pan             -0.254         0.928          4.672          0              0              0              57
   2  Pan             -0.535         0.928          4.274          0              0              0              59
   3  Potato          -2.892         0.926          2.706          0              0              0              76
   4  DishSponge      -1.637         0.927          0.518          0              0              0              55
   5  DishSponge      -0.272         0.661          0.464          0              0              0              44
   6  ButterKnife     -2.789         0.900          2.045          0              0              0              76
   7  ButterKnife     -2.269         0.662          0.355          0              0              0              63
   8  Spatula         -0.164         0.677          0.519          0              270            0              44
   9  Fork            -2.628         0.936          3.766          0              0              0              62
  10  Egg             -1.007         0.832          0.502          0              0              0              73
  11  Cup             -2.170         0.927          0.433          0              0              0              55
  12  Cup             -1.266         0.795          0.281          0              0              0              73
  13  Knife           -0.487         0.688          0.464          0              270            0              44
  14  Knife           -2.785         0.961          3.209          0              0              0              62
  15  Tomato          -2.722         0.696          4.427          0              90             0              72
  16  Bowl            -2.892         0.897          2.309          0              0              0              76
  17  Bowl            -0.359         1.770          0.114          0              0              0              54
  18  PepperShaker    -1.824         0.658          0.519          0              0              0              58
  19  Bread           -2.785         0.356          4.501          0              90             0              72
  20  Lettuce         -0.657         0.980          2.329          0              0              0              78
  21  Lettuce         -0.657         0.980          3.334          0              0              0              78
  22  Mug             -1.266         0.790          0.447          0              0              0              73
  23  Egg             -1.085         0.961          0.641          0              0              0              55
  24  Plate           -1.193         1.777          0.251          0              0              0              52
  25  Fork            -2.628         0.936          3.488          0              90             0              62
  26  Bread           -0.400         0.957          2.329          0              0              0              78
  27  Apple           -2.816         0.110          0.453          0              26.101         0              69
  28  Lettuce         -0.657         0.980          3.133          0              0              0              78
  29  Spatula         -2.583         0.915          2.177          0              0              0              76
  30  Knife           -2.037         0.953          0.602          0              0              0              55
  31  Potato          -2.892         0.926          2.573          0              0              0              76
  32  Tomato          -0.228         0.964          2.932          0              0              0              78
  33  Cup             -2.805         0.632          4.649          0              90             0              72
  34  SaltShaker      -2.480         0.896          2.706          0              0              0              76
  35  PepperShaker    -1.716         0.658          0.519          0              0              0              58
  36  ButterKnife     -2.210         0.916          0.619          0              0              0              55
  37  SoapBottle      -2.583         0.900          2.706          0              0              0              76
  38  Pan             -0.314         0.900          3.133          0              180            0              78
  39  DishSponge      -1.414         1.773          0.160          0              0              0              52
  40  Pot             -2.476         0.889          2.050          0              0              0              76
  41  Spoon           -2.706         0.936          3.395          0              180            0              62
  42  Mug             -2.778         1.001          3.714          0              90             0              75
  43  Bowl            -2.847         1.182          4.501          0              90             0              72
  44  Drawer          -0.325         0.696          0.413          0              0              0
  45  Cabinet         -0.595         0.490          0.648          0              0              0
  46  Cabinet         -0.555         0.490          0.646          0              0              0
  47  Cabinet         -1.591         0.490          0.646          0              0              0
  48  Cabinet         -1.554         0.490          0.646          0              0              0
  49  Cabinet         -2.550         0.490          0.646          0              0              0
  50  Cabinet         -1.514         2.046          0.392          0              0              0
  51  Cabinet         -2.474         2.046          0.392          0              0              0
  52  Cabinet         -1.478         2.046          0.392          0              0              0
  53  Cabinet         -0.518         2.046          0.392          0              0              0
  54  Cabinet         -0.479         2.046          0.392          0              0              0
  55  CounterTop      -1.366         0.952          0.349          0              0              0
  56  Sink            -1.108         0.926          0.340          0              0              0
  57  StoveBurner     -0.254         0.922          4.672          0              0              0
  58  Drawer          -1.824         0.696          0.413          0              0              0
  59  StoveBurner     -0.535         0.922          4.274          0              0              0
  60  StoveBurner     -0.254         0.922          4.274          0              0              0
  61  StoveBurner     -0.536         0.922          4.672          0              0              0
  62  CounterTop      -2.780         0.971          3.487          0              0              0
  63  Drawer          -2.323         0.696          0.413          0              0              0
  64  StoveKnob       -0.064         1.090          4.632          0              0              73.865
  65  StoveKnob       -0.064         1.090          4.782          0              0              73.865
  66  StoveKnob       -0.064         1.090          4.382          0              0              73.865
  67  StoveKnob       -0.064         1.090          4.222          0              0              73.865
  68  Toaster         -0.286         0.861          3.520          0              270            0
  69  GarbageCan      -2.816         -0.014         0.370          358.702        26.614         2.400
  70  LightSwitch     -0.064         1.447          1.996          0              270            0
  71  Window          -3.075         1.593          1.361          90             90             0
  72  Fridge          -2.802         0.0            4.427          0              0              0
  73  SinkBasin       -1.106         0.785          0.337          0              0              0
  74  Microwave       -0.358         0.917          0.224          0              0              0
  75  CoffeeMachine   -2.938         0.925          3.605          0              90             0
  76  DiningTable     -2.733         -0.003         2.607          0              270            0
  77  Faucet          -1.077         0.920          0.028          270            270            0
  78  DiningTable     -0.488         -0.003         3.182          0              270            0
  79  NorthWall
  80  EastWall
  81  SouthWall
  82  WestWall

Plan:
STEP 1: Turn around and face the head of lettuce and loaf of bread on the white table.  | STEP 2: Pick up the head of lettuce in front of the loaf of bread.  | STEP 3: Turn right and walk to the sink.  | STEP 4: Place the head of lettuce in the sink.  | STEP 5: Turn around, walk back to the white table, and face the two heads of lettuce and toaster.  | STEP 6: Pick up the head of lettuce on the right side.  | STEP 7: Turn right and walk back to the sink.  | STEP 8: Place the second head of lettuce to the right of the fist head of lettuce in the sink.  | END