Task: Put 2 lettuce heads in 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           -0.75          0.901          1.0            0              0              0
   1  Pan             -0.254         0.928          4.672          0              0              0              55
   2  ButterKnife     -0.572         0.900          2.329          0              0              0              76
   3  ButterKnife     -2.037         0.928          0.433          0              90             0              53
   4  Spatula         -1.353         0.812          0.337          0              180            0              71
   5  Spatula         -0.164         0.677          0.300          0              90             0              42
   6  Fork            -2.785         0.936          3.209          0              0              0              60
   7  Egg             -1.007         0.829          0.392          0              0              0              71
   8  Cup             -0.637         1.773          0.297          0              0              0              51
   9  Cup             -1.248         1.773          0.114          0              0              0              50
  10  Plate           -0.194         1.777          0.205          0              0              0              52
  11  Plate           -2.480         0.904          2.573          0              0              0              74
  12  Knife           -2.686         0.926          2.045          0              0              0              74
  13  Bowl            -2.738         0.295          4.427          0              90             0              70
  14  Bowl            -2.805         1.183          4.575          0              90             0              70
  15  SaltShaker      -1.636         1.769          0.251          0              0              0              48
  16  PepperShaker    -1.878         0.658          0.245          0              0              0              56
  17  Lettuce         -2.480         0.980          2.309          0              0              0              74
  18  Lettuce         -0.657         0.980          2.731          0              0              0              76
  19  Mug             -0.403         1.013          0.267          0              0              0              72
  20  Apple           -0.191         1.079          0.235          0              0              0              72
  21  Egg             -0.244         1.056          0.299          0              0              0              72
  22  Plate           -1.904         0.932          0.518          0              0              0              53
  23  Fork            -2.789         0.901          2.573          0              0              0              74
  24  Bread           -0.228         0.957          2.530          0              0              0              76
  25  Apple           -0.244         1.074          0.140          0              0              0              72
  26  Lettuce         -0.657         0.980          3.133          0              0              0              76
  27  Spatula         -1.986         0.677          0.300          0              90             0              56
  28  Knife           -2.789         0.926          2.309          0              0              0              74
  29  Potato          -1.266         0.822          0.226          0              0              0              71
  30  Tomato          -0.657         0.964          2.932          0              0              0              76
  31  Cup             -2.764         1.186          4.278          0              90             0              70
  32  SaltShaker      -2.549         0.931          3.673          0              0              0              60
  33  PepperShaker    -0.272         0.658          0.519          0              0              0              42
  34  ButterKnife     -2.628         0.935          3.580          0              0              0              60
  35  SoapBottle      -1.358         1.773          0.114          0              270            0              50
  36  Pan             -0.228         0.900          3.133          0              90             0              76
  37  DishSponge      -0.143         0.900          2.329          0              0              0              76
  38  Pot             -0.535         0.928          4.274          0              0              0              57
  39  Spoon           -2.215         0.663          0.409          0              0              0              61
  40  Mug             -2.892         0.895          2.309          0              0              0              74
  41  Bowl            -2.943         0.932          3.209          0              0              0              60
  42  Drawer          -0.325         0.696          0.413          0              0              0
  43  Cabinet         -0.595         0.490          0.648          0              0              0
  44  Cabinet         -0.555         0.490          0.646          0              0              0
  45  Cabinet         -1.591         0.490          0.646          0              0              0
  46  Cabinet         -1.554         0.490          0.646          0              0              0
  47  Cabinet         -2.550         0.490          0.646          0              0              0
  48  Cabinet         -1.514         2.046          0.392          0              0              0
  49  Cabinet         -2.474         2.046          0.392          0              0              0
  50  Cabinet         -1.478         2.046          0.392          0              0              0
  51  Cabinet         -0.518         2.046          0.392          0              0              0
  52  Cabinet         -0.479         2.046          0.392          0              0              0
  53  CounterTop      -1.366         0.952          0.349          0              0              0
  54  Sink            -1.108         0.926          0.340          0              0              0
  55  StoveBurner     -0.254         0.922          4.672          0              0              0
  56  Drawer          -1.824         0.696          0.413          0              0              0
  57  StoveBurner     -0.535         0.922          4.274          0              0              0
  58  StoveBurner     -0.254         0.922          4.274          0              0              0
  59  StoveBurner     -0.536         0.922          4.672          0              0              0
  60  CounterTop      -2.780         0.971          3.487          0              0              0
  61  Drawer          -2.323         0.696          0.413          0              0              0
  62  StoveKnob       -0.064         1.090          4.632          0              0              73.865
  63  StoveKnob       -0.064         1.090          4.782          0              0              73.865
  64  StoveKnob       -0.064         1.090          4.382          0              0              73.865
  65  StoveKnob       -0.064         1.090          4.222          0              0              73.865
  66  Toaster         -0.286         0.861          3.520          0              270            0
  67  GarbageCan      -2.816         -0.014         0.370          358.702        26.614         2.400
  68  LightSwitch     -0.064         1.447          1.996          0              270            0
  69  Window          -3.075         1.593          1.361          90             90             0
  70  Fridge          -2.802         0.0            4.427          0              0              0
  71  SinkBasin       -1.106         0.785          0.337          0              0              0
  72  Microwave       -0.358         0.917          0.224          0              0              0
  73  CoffeeMachine   -2.938         0.925          3.605          0              90             0
  74  DiningTable     -2.733         -0.003         2.607          0              270            0
  75  Faucet          -1.077         0.920          0.028          270            270            0
  76  DiningTable     -0.488         -0.003         3.182          0              270            0
  77  NorthWall
  78  EastWall
  79  SouthWall
  80  WestWall

Plan:
STEP 1: Move forward but move to your left so you are facing the white kitchen table | STEP 2: Pick up the lettuce off of the table | STEP 3: Turn around and then walk to your right until you are facing the sink | STEP 4: Place the lettuce in to the sink | STEP 5: Turn around and then turn to face the right hand side kitchen table | STEP 6: Pick up the lettuce off of the table | STEP 7: Turn back to your right so you are facing the sink again | STEP 8: Place this lettuce in to the sink too | END