Task: Wash a head of lettuce and return it to the counter.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -2.25          0.899          3.5            0              270            0
   1  Pencil          -0.473         0.746          5.189          0              270            0              55
   2  Pencil          -1.610         0.923          1.875          0              0              0              74
   3  Potato          -0.383         1.369          3.726          0              270            0              109
   4  DishSponge      -1.693         0.923          1.875          0              0              0              58
   5  DishSponge      -3.229         0.744          5.162          0              180            0              88
   6  WineBottle      -3.255         0.924          5.259          0              90             0              76
   7  WineBottle      -0.334         0.926          4.944          0              0              0              61
   8  Fork            -4.242         0.924          2.183          0              0              0              76
   9  Fork            -4.033         0.924          4.900          0              90             0              76
  10  Spoon           -4.249         0.756          2.501          0              90             0              56
  11  Spatula         -0.411         0.940          5.273          0              0              0              61
  12  Cup             -0.237         2.134          5.852          0              180            0              60
  13  Cup             -2.530         1.545          1.698          0              0              0              106
  14  Knife           -0.565         0.954          4.615          0              90             0              61
  15  SoapBottle      -3.454         1.459          5.367          0              0              0              62
  16  SoapBottle      -3.639         0.068          6.333          0              270            0              102
  17  Bowl            -0.259         1.577          3.228          0              270            0              109
  18  Bowl            -0.259         1.682          3.794          0              270            0              109
  19  SaltShaker      -1.860         0.919          1.573          0              0              0              58
  20  SaltShaker      -4.054         0.073          2.286          0              0              0              86
  21  PepperShaker    -4.242         0.919          2.882          0              0              0              76
  22  Lettuce         -0.342         1.431          3.355          0              270            0              109
  23  Lettuce         -0.348         1.165          3.355          0              270            0              109
  24  Lettuce         -1.943         1.018          1.875          0              0              0              58
  25  Mug             -0.409         0.955          6.557          0              270            0              97
  26  Egg             -0.295         1.106          3.231          0              270            0              109
  27  Apple           -0.508         1.124          3.355          0              270            0              109
  28  Knife           -3.686         0.953          1.875          0              0              0              76
  29  Potato          -3.494         0.956          5.106          0              90             0              76
  30  Fork            -2.026         0.924          1.724          0              0              0              58
  31  Bowl            -0.259         1.577          3.470          0              270            0              109
  32  Plate           -1.905         1.454          1.638          0              0              0              95
  33  Lettuce         -0.295         1.165          3.850          0              270            0              109
  34  Bread           -0.334         1.004          5.932          0              0              0              61
  35  Tomato          -3.135         0.980          5.106          0              90             0              76
  36  WineBottle      -0.334         0.926          4.615          0              0              0              61
  37  Spatula         -0.181         0.940          5.273          0              0              0              61
  38  PaperTowelRoll  -3.748         0.172          6.292          0              270            0              102
  39  Cup             -4.064         0.082          2.992          0              0              0              89
  40  Pencil          -0.104         0.925          5.603          0              0              0              61
  41  Pan             -2.924         0.930          2.012          0              0              0              59
  42  Pot             -2.469         0.930          1.712          0              270            0              91
  43  SaltShaker      -1.943         0.919          1.648          0              0              0              58
  44  SoapBottle      -3.748         0.068          6.416          0              270            0              102
  45  PepperShaker    -0.411         0.921          5.273          0              0              0              55
  46  ButterKnife     -0.411         0.925          4.615          0              0              0              61
  47  DishSponge      -2.109         0.923          2.026          0              0              0              58
  48  Spoon           -0.488         0.926          5.603          0              0              0              61
  49  Mug             -2.635         1.541          1.601          0              90             0              106
  50  Cabinet         -3.203         1.931          1.777          0              0              0
  51  Cabinet         -3.187         0.390          2.089          0              0              0
  52  Cabinet         -0.637         0.387          6.882          0              180            0
  53  Drawer          -3.797         0.781          1.961          0              0              0
  54  Cabinet         -3.036         0.387          5.029          0              90             0
  55  Drawer          -0.509         0.775          5.268          0              270            0
  56  Drawer          -4.125         0.798          2.499          0              0              0
  57  Cabinet         -0.331         2.249          4.308          0              180            0
  58  CounterTop      -1.872         0.958          1.799          0              0              0
  59  StoveBurner     -2.924         0.924          2.012          0              0              0
  60  Cabinet         -0.331         2.249          6.806          0              180            0
  61  CounterTop      -0.345         0.960          5.603          0              0              0
  62  Cabinet         -3.039         1.935          5.321          0              90             0
  63  Cabinet         -3.922         0.397          2.088          0              0              0
  64  StoveBurner     -2.467         0.924          2.012          0              0              0
  65  Cabinet         -0.331         2.249          5.505          0              180            0
  66  Drawer          -0.509         0.775          4.617          0              270            0
  67  Drawer          -3.509         0.777          5.157          0              180            0
  68  Cabinet         -3.961         0.388          2.878          0              0              0
  69  Cabinet         -3.961         0.388          4.342          0              0              0
  70  Cabinet         -0.637         0.387          5.582          0              180            0
  71  Cabinet         -0.637         0.388          4.299          0              180            0
  72  Cabinet         -0.637         0.388          5.599          0              180            0
  73  StoveBurner     -2.924         0.924          1.712          0              180            0
  74  Drawer          -1.859         0.775          1.961          0              0              0
  75  Cabinet         -0.331         2.249          5.609          0              180            0
  76  CounterTop      -4.260         0.958          4.943          0              90             0
  77  Cabinet         -4.284         1.931          2.226          0              0              0
  78  Cabinet         -0.331         2.249          3.010          0              180            0
  79  Drawer          -3.801         0.777          5.157          0              180            0
  80  Cabinet         -4.112         1.935          5.321          0              90             0
  81  Cabinet         -3.968         0.388          3.662          0              0              0
  82  Drawer          -3.418         0.777          1.961          0              0              0
  83  Drawer          -4.090         0.777          4.661          0              90             0
  84  Faucet          -4.441         0.909          3.288          270            0              0
  85  Cabinet         -0.331         2.249          4.207          0              180            0
  86  Cabinet         -3.961         0.388          2.119          0              0              0
  87  Drawer          -0.509         0.775          5.920          0              270            0
  88  Drawer          -3.193         0.777          5.157          0              180            0
  89  Cabinet         -3.968         0.388          2.894          0              0              0
  90  Cabinet         -3.667         0.387          5.029          0              90             0
  91  StoveBurner     -2.469         0.924          1.712          0              270            0
  92  Cabinet         -1.539         0.388          2.090          0              0              0
  93  Sink            -4.190         0.921          3.279          0              0              0
  94  Cabinet         -3.641         0.387          5.029          0              90             0
  95  Cabinet         -1.583         1.931          1.777          0              0              0
  96  Drawer          -0.509         0.775          6.568          0              270            0
  97  CoffeeMachine   -0.279         0.912          6.556          0              270            0
  98  StoveKnob       -2.347         1.095          1.560          288.012        180            180
  99  StoveKnob       -2.788         1.095          1.560          288.012        180            180
 100  StoveKnob       -2.965         1.095          1.560          288.012        180            180
 101  StoveKnob       -2.512         1.095          1.560          288.012        180            180
 102  GarbageCan      -3.711         -0.030         6.376          0              270            0
 103  Toaster         -3.578         0.912          1.763          0              0              0
 104  Curtains        -4.522         2.252          3.391          90             90             0
 105  Window          -4.868         1.629          3.309          90             270            0
 106  Microwave       -2.693         1.430          1.689          0              0              0
 107  LightSwitch     -1.588         1.169          1.506          0              0              0
 108  SinkBasin       -4.196         0.780          3.276          0              270            0
 109  Fridge          -0.324         -0.001         3.602          0              0              0
 110  NorthWall
 111  EastWall
 112  SouthWall
 113  WestWall

Plan:
STEP 1: Turn to the left and walk to the counter with the sponges. | STEP 2: Pick up the head of lettuce. | STEP 3: Turn right and move to the front of the sink. | STEP 4: Wash the lettuce in the sink with clean water and remove it. | STEP 5: Turn right and move next to the fork on the counter. | STEP 6: Place the lettuce on the counter. | END