Task: Put two heads of lettuce into a kitchen sink.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.75          0.900          6.25           0              270            0
   1  Pan             1.32           0.988          3.848          0              0              0              54
   2  Potato          0.150          0.794          6.416          0              270            0              91
   3  Potato          2.051          1.550          5.751          0              270            0              77
   4  Kettle          -0.413         0.145          0.582          0              0              0              63
   5  Spoon           1.332          0.892          2.239          0              180            0              78
   6  Spoon           0.079          0.761          6.063          0              135            0              91
   7  Egg             1.497          0.940          2.034          0              90             0              78
   8  Cup             -0.289         0.756          6.786          0              135            0              91
   9  Plate           0.055          0.144          0.353          0              0              0              64
  10  Plate           1.322          0.141          2.012          0              0              0              44
  11  Tomato          1.966          1.565          5.501          0              270            0              77
  12  SoapBottle      0.847          0.992          0.670          0              0              0              55
  13  Bowl            1.406          0.139          3.291          0              0              0              66
  14  Bowl            1.455          1.575          4.633          0              0              0              59
  15  PepperShaker    -0.013         1.574          0.207          0              0              0              68
  16  PepperShaker    0.028          0.755          6.014          0              0              0              91
  17  SaltShaker      0.956          0.138          0.260          0              0              0              61
  18  Lettuce         -0.034         0.848          6.787          0              0              0              91
  19  Mug             0.107          1.574          0.163          0              0              0              68
  20  Bowl            1.450          2.206          4.131          0              0              0              43
  21  Bread           1.099          1.048          0.434          0              0              0              55
  22  Egg             2.009          1.565          5.251          0              270            0              77
  23  Knife           0.260          0.801          0.451          0              90             0              52
  24  Fork            1.293          0.771          4.680          0              90             0              45
  25  Apple           2.009          1.590          6.001          0              270            0              77
  26  Kettle          0.440          1.580          0.251          0              0              0              62
  27  Plate           1.322          0.141          2.720          0              0              0              67
  28  SaltShaker      1.135          0.987          4.762          0              0              0              56
  29  Lettuce         -0.384         1.081          0.303          0              90             0              55
  30  SoapBottle      -0.486         0.760          6.151          0              225            0              91
  31  Spatula         -0.481         0.787          0.620          0              270            0              51
  32  PaperTowelRoll  1.956          0.185          6.498          0              0              0              79
  33  Pot             1.317          0.988          4.294          0              0              0              50
  34  Potato          -0.618         0.794          6.284          0              225            0              91
  35  ButterKnife     -0.549         0.771          0.451          0              0              0              51
  36  PepperShaker    -0.346         0.755          6.632          0              0              0              91
  37  Pan             1.559          0.988          4.294          0              0              0              53
  38  Tomato          1.135          1.042          4.670          0              0              0              56
  39  DishSponge      1.332          0.896          2.137          0              90             0              78
  40  Cup             0.273          1.093          0.245          0              0              0              71
  41  Spoon           1.225          0.993          0.213          0              0              0              55
  42  Mug             0.305          0.755          6.416          0              270            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 to your left, then go to the kitchen counter ahead of you. | STEP 2: Grab the lettuce that is on the counter to the right of the microwave. | STEP 3: Go diagonally left to the sink. | STEP 4: Put the head of lettuce into the sink on the right. | STEP 5: Turn left and go forward to the wall, then turn left toward the round black table near the wall. | STEP 6: Pick up the head of lettuce from the round table. | STEP 7: Turn left and carry this head of lettuce back to the sink, then face the sink. | STEP 8: Put the head of lettuce in the left sink. | END