Task: Rinse a head of lettuce in the sink to put back on the white table.

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           0.869          -3.25          0              90             0
   1  Potato          -2.054         0.832          -3.673         0              0              0              59
   2  Potato          0.785          0.698          -2.190         0              270            0              57
   3  DishSponge      -1.578         0.699          -3.276         0              0              0              64
   4  DishSponge      0.720          0.760          -0.124         0              0              0              36
   5  ButterKnife     0.721          0.664          0.630          0              0              0              42
   6  Spatula         0.781          0.680          0.326          0              0              0              42
   7  Spatula         -1.056         0.915          1.272          0              270            0              63
   8  Pot             -2.097         0.930          0.785          0              0              0              39
   9  Plate           0.676          0.019          -0.119         0              0              0              47
  10  Knife           0.623          0.783          -0.252         0              90             0              36
  11  SoapBottle      -1.056         0.899          0.843          0              270            0              63
  12  Lettuce         0.149          0.987          1.101          0              270            0              63
  13  Mug             0.961          0.660          0.448          0              0              0              42
  14  Apple           -1.578         0.753          -3.698         0              0              0              64
  15  Pot             -1.555         0.930          1.049          0              0              0              46
  16  Plate           -2.023         0.692          -1.447         0              0              0              73
  17  Fork            -1.803         0.702          -0.875         0              0              0              73
  18  SoapBottle      -0.252         0.899          1.187          0              270            0              63
  19  Apple           0.841          0.718          0.448          0              0              0              42
  20  Pan             0.746          0.464          -2.035         0              180            0              57
  21  Egg             0.708          1.195          -1.880         0              270            0              57
  22  Spatula         0.866          0.774          -0.252         0              90             0              36
  23  Potato          -1.535         0.733          -3.614         0              0              0              64
  24  Cup             1.024          0.882          -0.176         0              0              0              37
  25  SaltShaker      0.877          0.879          0.029          0              0              0              37
  26  PepperShaker    -1.620         0.692          -3.614         0              0              0              64
  27  ButterKnife     0.781          0.664          0.448          0              0              0              42
  28  DishSponge      0.949          1.463          0.473          0              0              0              49
  29  Bread           0.149          0.944          0.843          0              270            0              63
  30  Lettuce         -1.260         0.138          -3.611         0              270            0              52
  31  Tomato          0.746          0.713          -1.725         0              270            0              57
  32  Spoon           0.609          0.872          -0.196         0              60.148         0              37
  33  Knife           0.817          0.782          -0.252         0              90             0              36
  34  Mug             -2.002         0.794          -3.771         0              90             0              59
  35  Bowl            -2.038         0.691          -1.003         0              0              0              73
  36  Drawer          0.706          0.766          -0.125         0              0              0
  37  CounterTop      0.792          0.919          -0.108         0              0              0
  38  Mirror          1.093          1.602          -0.643         0              0              0
  39  StoveBurner     -2.096         0.890          0.785          0              0              0
  40  Cabinet         0.507          0.345          -0.426         0              0              0
  41  StoveBurner     -1.552         0.890          0.785          0              0              0
  42  SideTable       0.770          -0.030         0.443          0              0              0
  43  Sink            0.753          0.882          -0.680         0              0              0
  44  StoveBurner     -2.096         0.890          1.049          0              0              0
  45  GarbageBag      -0.770         0.287          -3.541         270            73.521         83.489
  46  StoveBurner     -1.554         0.890          1.049          0              0              0
  47  Cabinet         0.507          0.345          0.156          0              0              0
  48  Cabinet         0.717          1.822          -0.398         0              0              0
  49  Cabinet         0.717          1.822          0.669          0              0              0
  50  CoffeeMachine   0.873          0.865          -1.256         0              270            0
  51  Toaster         -0.522         0.886          1.081          0              180            0
  52  GarbageCan      -1.261         -0.031         -3.610         0              270            0
  53  StoveKnob       -1.898         0.866          0.519          311.864        0              180
  54  StoveKnob       -1.754         0.866          0.519          311.864        0              180
  55  StoveKnob       -2.058         0.866          0.519          311.864        0              180
  56  StoveKnob       -1.600         0.866          0.519          311.864        0              180
  57  Fridge          0.680          -0.031         -1.957         0              0              0
  58  Window          -2.424         1.639          -2.453         90             270            0
  59  Microwave       -1.994         0.690          -3.651         0              0              0
  60  SinkBasin       0.757          0.762          -0.688         0              270            0
  61  LightSwitch     1.102          1.368          -3.737         0              270            0
  62  Shelf           -0.350         0.124          0.857          0              0              0
  63  DiningTable     -0.350         -0.025         0.857          0              0              0
  64  DiningTable     -1.909         -0.032         -3.507         0              0              0
  65  Blinds          -2.343         2.151          -2.437         0              270            0
  66  AluminumFoil    0.762          0.224          0.337          0              184.594        0
  67  AluminumFoil    0.751          0.225          0.287          0              0              0
  68  AluminumFoil    0.839          0.224          0.392          0              195.128        0
  69  Shelf           0.771          0.226          0.445          0              0              0
  70  Shelf           0.771          0.456          0.446          0              0              0
  71  Faucet          1.025          0.873          -0.678         270            180            0
  72  Shelf           -0.350         0.497          0.857          0              0              0
  73  DiningTable     -1.929         -0.035         -1.398         0              90             0
  74  Chair           -1.610         -0.024         -1.424         358.454        297.426        0
  75  NorthWall
  76  EastWall
  77  SouthWall
  78  WestWall

Plan:
STEP 1: Turn left, walking forward across the room towards the white table. | STEP 2: Pick up the head of lettuce from the table. | STEP 3: Make a right and walk towards the sink. | STEP 4: Rinse the head of lettuce in the sink, removing it afterwards. | STEP 5: Turn left, heading back to the white table. | STEP 6: Set the head of lettuce down on the white table next to the bottle of lotion. | END