Task: Putting two lettuce plants 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           0.900          7.0            0              270            0
   1  Potato          1.135          1.027          4.808          0              0              0              65
   2  Potato          1.332          0.931          2.525          0              90             0              87
   3  DishSponge      0.124          0.771          0.396          0              0              0              61
   4  DishSponge      1.135          0.992          4.670          0              0              0              65
   5  ButterKnife     0.771          0.992          0.578          0              0              0              64
   6  ButterKnife     1.493          0.992          1.350          0              0              0              64
   7  Kettle          1.32           0.988          3.848          0              0              0              63
   8  Kettle          1.079          1.580          0.251          0              0              0              71
   9  Pot             1.559          0.988          4.294          0              0              0              62
  10  Pot             1.317          0.988          4.294          0              0              0              59
  11  Spoon           -0.467         0.761          6.416          0              270            0              100
  12  Spoon           1.236          0.772          3.154          0              0              0              57
  13  Spatula         1.276          0.905          1.983          0              180            0              87
  14  Fork            -0.025         0.760          6.347          0              315            0              100
  15  Fork            0.150          0.760          6.541          0              270            0              100
  16  Cup             1.228          0.137          4.763          0              0              0              66
  17  Plate           0.193          0.144          0.277          0              0              0              73
  18  Knife           -0.685         0.802          0.563          0              270            0              60
  19  Tomato          1.442          0.940          2.137          0              90             0              87
  20  Bowl            0.046          1.578          0.251          0              0              0              77
  21  SaltShaker      -0.096         0.755          6.941          0              0              0              100
  22  SaltShaker      -0.312         0.755          6.666          0              270            0              100
  23  Lettuce         -0.575         0.848          6.719          0              135            0              100
  24  Lettuce         0.305          0.848          6.604          0              270            0              100
  25  Mug             2.137          1.510          5.501          0              270            0              86
  26  Mug             1.400          0.136          4.724          0              0              0              66
  27  Apple           0.305          0.834          6.354          0              270            0              100
  28  Apple           2.137          1.590          5.376          0              270            0              86
  29  Bowl            -0.611         0.991          0.395          0              0              0              64
  30  Bread           1.099          1.048          0.434          0              0              0              64
  31  Egg             -0.621         0.810          6.291          0              270            0              100
  32  Knife           0.803          0.802          0.563          0              270            0              56
  33  Fork            1.182          0.771          4.680          0              90             0              54
  34  Apple           -0.158         0.834          6.666          0              270            0              100
  35  Kettle          1.543          1.577          4.511          0              0              0              68
  36  Plate           1.573          0.141          2.794          0              0              0              76
  37  SaltShaker      1.238          0.135          2.159          0              0              0              76
  38  Lettuce         0.058          0.848          6.261          0              135            0              100
  39  SoapBottle      0.696          0.992          0.303          0              90             0              64
  40  Spatula         0.260          0.786          0.396          0              90             0              61
  41  PaperTowelRoll  0.999          1.096          0.120          0              0              0              64
  42  Pot             1.562          0.988          3.848          0              0              0              58
  43  Potato          0.620          1.027          0.303          0              0              0              64
  44  ButterKnife     -0.481         0.772          0.563          0              0              0              60
  45  PepperShaker    1.657          0.135          3.069          0              0              0              75
  46  Pan             1.313          0.985          4.284          0              0              0              59
  47  Tomato          2.006          0.130          6.469          0              0              0              88
  48  DishSponge      -0.034         0.759          6.169          0              0              0              100
  49  Cup             2.051          1.511          5.251          0              270            0              86
  50  Spoon           1.314          0.993          3.137          0              0              0              64
  51  Mug             -0.312         0.755          6.541          0              270            0              100
  52  Cabinet         1.307          2.455          4.360          0              0              0
  53  Cabinet         1.054          0.422          1.710          0              0              0
  54  Drawer          1.280          0.808          4.718          0              0              0
  55  Cabinet         1.307          2.455          3.607          0              0              0
  56  Drawer          0.736          0.802          0.521          0              0              0
  57  Drawer          1.276          0.802          3.291          0              0              0
  58  StoveBurner     1.562          0.982          3.848          0              0              0
  59  StoveBurner     1.317          0.982          4.294          0              0              0
  60  Drawer          -0.482         0.802          0.521          0              0              0
  61  Drawer          0.124          0.802          0.521          0              0              0
  62  StoveBurner     1.559          0.982          4.294          0              0              0
  63  StoveBurner     1.320          0.982          3.848          0              0              0
  64  CounterTop      1.391          1.028          0.897          0              0              0
  65  CounterTop      1.391          1.028          4.716          0              0              0
  66  Cabinet         1.054          0.422          4.548          0              0              0
  67  Cabinet         1.317          2.134          0.517          0              0              0
  68  Cabinet         1.317          2.134          4.889          0              0              0
  69  Cabinet         1.317          2.134          3.095          0              0              0
  70  Cabinet         0.443          0.422          0.743          0              0              0
  71  Cabinet         1.270          2.134          0.434          0              0              0
  72  Cabinet         -0.775         0.422          0.743          0              0              0
  73  Cabinet         -0.168         0.422          0.743          0              0              0
  74  Cabinet         1.317          2.134          1.534          0              0              0
  75  Cabinet         1.054          0.422          2.990          0              0              0
  76  Cabinet         1.054          0.422          2.944          0              0              0
  77  Cabinet         -0.263         2.134          0.434          0              0              0
  78  Cabinet         0.252          2.134          0.434          0              0              0
  79  Sink            1.391          1.006          2.326          0              0              0
  80  Microwave       0.108          0.981          0.262          0              0              0
  81  HousePlant      -0.165         0.826          6.444          0              0              0
  82  CoffeeMachine   1.551          0.982          0.953          0              270            0
  83  Toaster         1.473          0.981          4.715          0              270            0
  84  Window          -2.065         1.916          3.626          90             90             0
  85  Window          1.763          2.007          2.299          90             270            0
  86  Fridge          2.035          0.0            5.625          0              0              0
  87  SinkBasin       1.387          0.880          2.338          0              90             0
  88  GarbageCan      2.001          -0.044         6.503          0              0              0
  89  StoveKnob       1.140          0.934          3.987          45             270            0
  90  StoveKnob       1.140          0.934          4.309          45             270            0
  91  StoveKnob       1.140          0.934          4.140          45             270            0
  92  StoveKnob       1.140          0.934          3.824          45             270            0
  93  Vase            -0.226         0.834          6.993          0              0              0
  94  Vase            2.098          0.043          7.070          0              257.232        0
  95  Vase            -0.594         0.835          6.130          0              225            0
  96  LightSwitch     -2.0           1.549          6.045          0              90             0
  97  Safe            2.046          1.072          7.054          0              257.232        0
  98  Faucet          1.534          1.025          2.371          0              294.391        0
  99  Blinds          1.738          2.563          2.312          0              90             0
 100  DiningTable     -0.156         0.000          6.474          0              0              0
 101  Chair           0.291          0.002          6.142          0              310.162        0
 102  GarbageBag      -1.092         0.318          0.268          270            90             83.492
 103  NorthWall
 104  EastWall
 105  SouthWall
 106  WestWall

Plan:
STEP 1: Turn left and go to the round black table | STEP 2: Grab the lettuce off of the table | STEP 3: Turn left and head to the sink | STEP 4: Put the lettuce in the sink | STEP 5: Turn left and to to the round black table | STEP 6: Grab the lettuce off of the table | STEP 7: Turn right and go to the sink | STEP 8: Place the lettuce in the sink | END