Task: Put two lettuce into 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           -1.0           0.901          3.5            0              90             0
   1  Potato          -0.572         0.926          2.932          0              0              0              75
   2  Potato          -1.007         0.822          0.226          0              0              0              70
   3  DishSponge      -1.824         0.661          0.409          0              0              0              55
   4  DishSponge      -2.549         0.935          3.580          0              0              0              59
   5  ButterKnife     -0.400         0.900          2.329          0              0              0              75
   6  Fork            -0.143         0.901          2.932          0              90             0              75
   7  Fork            -0.314         0.901          2.932          0              0              0              75
   8  Cup             -0.228         0.900          2.932          0              0              0              75
   9  Plate           -1.691         1.777          0.251          0              0              0              47
  10  Knife           -0.486         0.926          2.329          0              90             0              75
  11  SoapBottle      -2.864         0.935          3.302          0              90             0              59
  12  SoapBottle      -0.572         0.900          3.133          0              0              0              75
  13  Bowl            -1.303         1.770          0.297          0              90             0              49
  14  Bowl            -0.244         1.015          0.203          0              0              0              71
  15  SaltShaker      -2.269         0.658          0.355          0              0              0              60
  16  Lettuce         -0.572         0.980          2.530          0              0              0              75
  17  Lettuce         -0.657         0.980          3.334          0              0              0              75
  18  Mug             -0.582         1.768          0.160          0              0              0              50
  19  Apple           -2.583         0.956          2.706          0              0              0              73
  20  Egg             -2.628         0.968          3.395          0              0              0              59
  21  Plate           -2.191         1.777          0.160          0              0              0              48
  22  Fork            -2.377         0.662          0.300          0              90             0              60
  23  Bread           -0.228         0.957          2.530          0              0              0              75
  24  Apple           -2.785         0.355          4.575          0              90             0              69
  25  Lettuce         -2.377         0.980          2.441          0              0              0              73
  26  Spatula         -2.995         0.915          2.573          0              90             0              73
  27  Knife           -2.215         0.688          0.464          0              270            0              60
  28  Potato          -0.403         1.044          0.171          0              0              0              71
  29  Tomato          -2.722         1.250          4.427          0              90             0              69
  30  Cup             -0.249         1.773          0.297          0              0              0              51
  31  SaltShaker      -0.272         0.658          0.409          0              0              0              41
  32  PepperShaker    -1.932         0.658          0.464          0              0              0              55
  33  ButterKnife     -1.770         0.928          0.518          0              0              0              52
  34  SoapBottle      -0.304         1.773          0.160          0              0              0              51
  35  Pan             -0.254         0.928          4.672          0              0              0              54
  36  DishSponge      -2.781         0.053          0.352          0              26.101         0              66
  37  Pot             -0.535         0.928          4.274          0              0              0              56
  38  Spoon           -1.716         0.663          0.355          0              0              0              55
  39  Mug             -2.778         1.001          3.714          0              90             0              72
  40  Bowl            -2.377         0.897          2.706          0              0              0              73
  41  Drawer          -0.325         0.696          0.413          0              0              0
  42  Cabinet         -0.595         0.490          0.648          0              0              0
  43  Cabinet         -0.555         0.490          0.646          0              0              0
  44  Cabinet         -1.591         0.490          0.646          0              0              0
  45  Cabinet         -1.554         0.490          0.646          0              0              0
  46  Cabinet         -2.550         0.490          0.646          0              0              0
  47  Cabinet         -1.514         2.046          0.392          0              0              0
  48  Cabinet         -2.474         2.046          0.392          0              0              0
  49  Cabinet         -1.478         2.046          0.392          0              0              0
  50  Cabinet         -0.518         2.046          0.392          0              0              0
  51  Cabinet         -0.479         2.046          0.392          0              0              0
  52  CounterTop      -1.366         0.952          0.349          0              0              0
  53  Sink            -1.108         0.926          0.340          0              0              0
  54  StoveBurner     -0.254         0.922          4.672          0              0              0
  55  Drawer          -1.824         0.696          0.413          0              0              0
  56  StoveBurner     -0.535         0.922          4.274          0              0              0
  57  StoveBurner     -0.254         0.922          4.274          0              0              0
  58  StoveBurner     -0.536         0.922          4.672          0              0              0
  59  CounterTop      -2.780         0.971          3.487          0              0              0
  60  Drawer          -2.323         0.696          0.413          0              0              0
  61  StoveKnob       -0.064         1.090          4.632          0              0              73.865
  62  StoveKnob       -0.064         1.090          4.782          0              0              73.865
  63  StoveKnob       -0.064         1.090          4.382          0              0              73.865
  64  StoveKnob       -0.064         1.090          4.222          0              0              73.865
  65  Toaster         -0.286         0.861          3.520          0              270            0
  66  GarbageCan      -2.816         -0.014         0.370          358.702        26.614         2.400
  67  LightSwitch     -0.064         1.447          1.996          0              270            0
  68  Window          -3.075         1.593          1.361          90             90             0
  69  Fridge          -2.802         0.0            4.427          0              0              0
  70  SinkBasin       -1.106         0.785          0.337          0              0              0
  71  Microwave       -0.358         0.917          0.224          0              0              0
  72  CoffeeMachine   -2.938         0.925          3.605          0              90             0
  73  DiningTable     -2.733         -0.003         2.607          0              270            0
  74  Faucet          -1.077         0.920          0.028          270            270            0
  75  DiningTable     -0.488         -0.003         3.182          0              270            0
  76  NorthWall
  77  EastWall
  78  SouthWall
  79  WestWall

Plan:
STEP 1: Turn right, go forward, turn left at the end of the table | STEP 2: Pick up the lettuce on the table | STEP 3: Turn right, go forward a bit, turn left, go to the sink | STEP 4: Put the lettuce in the sink | STEP 5: Turn right, go forward a bit, turn left, go forward, turn right at the table | STEP 6: Pick up the lettuce on the table | STEP 7: Turn left, go forward a bit, turn right, go to the sink | STEP 8: Put the lettuce in the sink | END