Task: Put a clean head of lettuce on 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           0.75           0.900          2.5            0              270            0
   1  Potato          -0.544         1.069          2.311          0              0              0              49
   2  Ladle           2.991          0.071          -1.126         0              0              0              88
   3  Ladle           2.061          0.803          3.580          0              225            0              47
   4  DishSponge      -0.645         0.816          1.181          0              90             0              103
   5  DishSponge      -0.669         1.027          0.877          0              0              0              49
   6  WineBottle      2.599          0.765          3.445          0              0              0              47
   7  Glassbottle     -0.947         0.786          -0.073         0              90             0              90
   8  Pot             2.177          1.027          -1.599         0              0              0              45
   9  Tomato          -1.159         1.081          1.612          0              0              0              49
  10  Bowl            2.801          0.762          4.044          0              270            0              47
  11  SaltShaker      2.607          0.760          3.848          0              329.999        0              47
  12  SaltShaker      -0.802         0.796          0.373          0              0              0              48
  13  PepperShaker    2.568          1.777          -1.755         0              0              0              85
  14  Bread           2.451          0.832          4.145          0              0              0              47
  15  Bread           1.290          1.094          -1.560         0              90             0              46
  16  Lettuce         2.100          0.822          3.969          0              270            0              47
  17  Mug             -0.716         0.043          2.417          0              0              0              66
  18  Pan             2.042          1.017          1.779          0              0              0              46
  19  Glassbottle     -0.968         1.442          -0.516         0              90             0              90
  20  Knife           2.801          0.789          3.895          0              0              0              47
  21  SoapBottle      2.893          0.031          -0.740         0              0              0              87
  22  Egg             -0.645         0.860          1.492          0              90             0              103
  23  Fork            -0.519         0.800          0.535          0              0              0              48
  24  Potato          -1.069         0.828          -0.516         0              90             0              90
  25  Ladle           2.475          1.066          1.648          0              136.999        0              46
  26  Tomato          -0.782         0.870          1.492          0              90             0              103
  27  Pot             1.836          1.027          -1.84          0              90             0              44
  28  WineBottle      2.893          0.033          -0.638         0              0              0              87
  29  Plate           -0.984         1.781          1.859          0              0              0              63
  30  Spatula         -0.802         0.816          2.061          0              270            0              51
  31  PaperTowelRoll  2.296          0.868          3.605          0              225            0              47
  32  Lettuce         2.503          0.822          3.917          0              225            0              47
  33  Apple           -1.069         0.836          -0.184         0              90             0              90
  34  SaltShaker      2.322          0.760          3.895          0              329.999        0              47
  35  PepperShaker    -0.448         0.796          1.844          0              0              0              51
  36  ButterKnife     -0.661         0.802          0.777          0              0              0              48
  37  Bread           2.404          1.094          1.303          0              136.999        0              46
  38  Cup             2.228          0.763          4.495          0              0              0              47
  39  DishSponge      -0.715         0.045          2.012          0              0              0              51
  40  Bowl            2.855          0.762          3.567          0              329.999        0              47
  41  Spoon           -0.590         0.801          1.899          0              0              0              51
  42  Mug             -0.803         1.070          0.646          0              90             0              99
  43  Sink            -0.716         1.023          1.333          0              0              0
  44  StoveBurner     1.835          1.018          -1.840         0              90             0
  45  StoveBurner     2.177          1.018          -1.599         0              0              0
  46  CounterTop      2.812          0.992          0.675          0              0              0
  47  DiningTable     2.419          0.003          3.930          0              0              0
  48  Drawer          -0.643         0.828          0.616          0              0              0
  49  CounterTop      -0.813         1.062          2.188          0              0              0
  50  StoveBurner     2.115          1.018          -1.840         0              270            0
  51  Drawer          -0.643         0.831          1.953          0              0              0
  52  Drawer          -0.643         0.833          2.418          0              0              0
  53  Drawer          1.347          0.836          -1.539         0              0              0
  54  Drawer          2.693          0.833          -1.131         0              0              0
  55  Drawer          2.693          0.833          -0.699         0              0              0
  56  Drawer          2.693          0.833          -0.267         0              0              0
  57  Drawer          2.693          0.833          0.163          0              0              0
  58  Drawer          2.524          0.833          0.720          0              2.000          0
  59  Drawer          2.232          0.833          1.036          0              2.000          0
  60  Drawer          1.936          0.833          1.354          0              2.000          0
  61  Drawer          1.646          0.833          1.670          0              2.000          0
  62  Cabinet         1.504          2.475          -1.710         0              0              0
  63  Cabinet         -0.823         2.220          1.621          0              0              0
  64  Cabinet         -0.823         2.220          0.615          0              0              0
  65  Cabinet         1.136          0.388          -1.355         0              0              0
  66  Cabinet         -0.356         0.383          2.626          0              0              0
  67  Cabinet         2.745          2.220          -1.690         0              0              0
  68  Cabinet         1.882          0.383          1.017          0              0              0
  69  Cabinet         1.307          0.473          1.640          0              0              0
  70  Cabinet         1.892          0.383          1.006          0              0              0
  71  Cabinet         2.467          0.383          0.383          0              0              0
  72  Cabinet         2.466          0.383          -0.475         0              0              0
  73  Cabinet         2.466          0.473          0.371          0              0              0
  74  Cabinet         2.386          2.475          -1.710         0              0              0
  75  Cabinet         -0.356         0.383          1.712          0              0              0
  76  Cabinet         2.745          2.220          0.019          0              0              0
  77  Cabinet         -0.663         2.496          0.157          0              0              0
  78  Cabinet         -0.663         2.496          -0.868         0              0              0
  79  Cabinet         -0.356         0.383          0.269          0              0              0
  80  Cabinet         -0.823         2.220          1.603          0              0              0
  81  Cabinet         -0.662         2.234          0.586          0              0              0
  82  Cabinet         2.745          2.220          -0.843         0              0              0
  83  Cabinet         2.745          2.220          -0.827         0              0              0
  84  Cabinet         -0.823         2.220          2.608          0              0              0
  85  Cabinet         2.732          2.226          -1.709         0              0              0
  86  Cabinet         1.137          2.226          -1.709         0              0              0
  87  Cabinet         2.466          0.383          -0.491         0              0              0
  88  Cabinet         2.466          0.383          -1.339         0              0              0
  89  StoveBurner     1.761          1.018          -1.599         0              0              0
  90  Fridge          -0.908         0.0            -0.405         0              0              0
  91  HousePlant      2.517          1.016          1.822          0              0              0
  92  Microwave       1.939          1.745          -1.826         0              0              0
  93  StoveKnob       2.017          1.041          -1.514         0              180            180
  94  StoveKnob       1.934          1.041          -1.514         0              180            180
  95  StoveKnob       2.017          1.041          -1.589         0              180            180
  96  StoveKnob       1.934          1.041          -1.589         0              180            180
  97  Window          1.756          1.608          4.762          90             0              0
  98  HousePlant      2.171          1.004          2.091          0              0              0
  99  CoffeeMachine   -0.942         1.018          0.645          0              90             0
 100  LightSwitch     -0.099         1.410          -2.066         0              0              0
 101  GarbageCan      -0.951         -0.029         2.826          0              0              0
 102  Toaster         -1.007         1.018          2.238          0              90             0
 103  SinkBasin       -0.714         0.805          1.348          0              90             0
 104  Chair           1.615          0.004          4.310          0              107.976        0
 105  Faucet          -1.120         1.013          1.334          0              90             0
 106  Chair           2.759          0.004          3.086          0              358.967        0
 107
 108  NorthWall
 109  EastWall
 110  SouthWall
 111  WestWall

Plan:
STEP 1: Turn right and take a step then turn right and walk to the wall then turn left and take a step. | STEP 2: Pick up the head of lettuce that's in front of you under a loaf of bread. | STEP 3: Turn left and walk to the sink that's in front of you to your left. | STEP 4: Wash the lettuce in the sink and then pick it back up and shut off the water. | STEP 5: Take a step to your right to face the toaster. | STEP 6: Put the lettuce on the edge of the counter to the left of the potato. | END