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           -3.5           0.899          4.25           0              180            0
   1  Potato          -3.613         0.956          5.336          0              90             0              66
   2  DishSponge      -3.748         0.068          6.292          0              270            0              92
   3  Pot             -2.469         0.930          1.712          0              270            0              81
   4  Fork            -0.334         0.925          4.615          0              0              0              51
   5  Cup             -0.218         1.334          3.355          0              270            0              99
   6  Tomato          -0.348         1.127          3.974          0              270            0              99
   7  Tomato          -0.334         0.982          5.273          0              0              0              51
   8  SaltShaker      -3.194         0.743          5.133          0              180            0              78
   9  PepperShaker    -0.104         0.921          4.615          0              0              0              56
  10  PepperShaker    -3.827         0.742          1.985          0              0              0              43
  11  Lettuce         -1.777         1.018          1.8            0              0              0              48
  12  Mug             -0.409         0.955          6.557          0              270            0              87
  13  Mug             -0.383         1.330          3.355          0              270            0              99
  14  Apple           -3.712         0.122          6.457          0              270            0              92
  15  Apple           -4.411         0.976          4.122          0              90             0              66
  16  Egg             -3.784         0.104          6.375          0              270            0              92
  17  Apple           -2.583         1.599          1.698          0              0              0              96
  18  Knife           -0.258         0.954          5.932          0              90             0              51
  19  Potato          -0.383         1.719          3.733          0              270            0              99
  20  Fork            -0.258         0.925          4.944          0              0              0              51
  21  Bowl            -0.259         1.577          3.228          0              270            0              99
  22  Plate           -0.301         1.581          3.470          0              270            0              99
  23  Lettuce         -4.335         1.018          5.418          0              90             0              66
  24  Bread           -4.26          1.003          5.159          0              90             0              66
  25  Tomato          -3.733         0.980          5.106          0              90             0              66
  26  WineBottle      -0.258         0.926          5.603          0              0              0              51
  27  Spatula         -0.411         0.940          5.603          0              0              0              51
  28  PaperTowelRoll  -4.517         1.027          3.432          0              90             0              66
  29  Cup             -3.531         0.081          1.927          0              0              0              41
  30  Pencil          -1.777         0.923          1.875          0              0              0              64
  31  Pan             -0.295         1.070          3.479          0              0              0              99
  32  Pot             -2.924         0.930          2.012          0              0              0              49
  33  SaltShaker      -1.860         0.742          1.956          0              0              0              64
  34  SoapBottle      -0.565         0.924          6.591          0              0              0              51
  35  PepperShaker    -4.154         0.743          4.436          0              90             0              73
  36  ButterKnife     -0.488         0.925          5.273          0              0              0              51
  37  DishSponge      -2.109         0.923          1.724          0              0              0              48
  38  Spoon           -1.777         0.924          2.026          0              0              0              48
  39  Mug             -2.740         1.541          1.633          0              0              0              96
  40  Cabinet         -3.203         1.931          1.777          0              0              0
  41  Cabinet         -3.187         0.390          2.089          0              0              0
  42  Cabinet         -0.637         0.387          6.882          0              180            0
  43  Drawer          -3.797         0.781          1.961          0              0              0
  44  Cabinet         -3.036         0.387          5.029          0              90             0
  45  Drawer          -0.509         0.775          5.268          0              270            0
  46  Drawer          -4.125         0.798          2.499          0              0              0
  47  Cabinet         -0.331         2.249          4.308          0              180            0
  48  CounterTop      -1.872         0.958          1.799          0              0              0
  49  StoveBurner     -2.924         0.924          2.012          0              0              0
  50  Cabinet         -0.331         2.249          6.806          0              180            0
  51  CounterTop      -0.345         0.960          5.603          0              0              0
  52  Cabinet         -3.039         1.935          5.321          0              90             0
  53  Cabinet         -3.922         0.397          2.088          0              0              0
  54  StoveBurner     -2.467         0.924          2.012          0              0              0
  55  Cabinet         -0.331         2.249          5.505          0              180            0
  56  Drawer          -0.509         0.775          4.617          0              270            0
  57  Drawer          -3.509         0.777          5.157          0              180            0
  58  Cabinet         -3.961         0.388          2.878          0              0              0
  59  Cabinet         -3.961         0.388          4.342          0              0              0
  60  Cabinet         -0.637         0.387          5.582          0              180            0
  61  Cabinet         -0.637         0.388          4.299          0              180            0
  62  Cabinet         -0.637         0.388          5.599          0              180            0
  63  StoveBurner     -2.924         0.924          1.712          0              180            0
  64  Drawer          -1.859         0.775          1.961          0              0              0
  65  Cabinet         -0.331         2.249          5.609          0              180            0
  66  CounterTop      -4.260         0.958          4.943          0              90             0
  67  Cabinet         -4.284         1.931          2.226          0              0              0
  68  Cabinet         -0.331         2.249          3.010          0              180            0
  69  Drawer          -3.801         0.777          5.157          0              180            0
  70  Cabinet         -4.112         1.935          5.321          0              90             0
  71  Cabinet         -3.968         0.388          3.662          0              0              0
  72  Drawer          -3.418         0.777          1.961          0              0              0
  73  Drawer          -4.090         0.777          4.661          0              90             0
  74  Faucet          -4.441         0.909          3.288          270            0              0
  75  Cabinet         -0.331         2.249          4.207          0              180            0
  76  Cabinet         -3.961         0.388          2.119          0              0              0
  77  Drawer          -0.509         0.775          5.920          0              270            0
  78  Drawer          -3.193         0.777          5.157          0              180            0
  79  Cabinet         -3.968         0.388          2.894          0              0              0
  80  Cabinet         -3.667         0.387          5.029          0              90             0
  81  StoveBurner     -2.469         0.924          1.712          0              270            0
  82  Cabinet         -1.539         0.388          2.090          0              0              0
  83  Sink            -4.190         0.921          3.279          0              0              0
  84  Cabinet         -3.641         0.387          5.029          0              90             0
  85  Cabinet         -1.583         1.931          1.777          0              0              0
  86  Drawer          -0.509         0.775          6.568          0              270            0
  87  CoffeeMachine   -0.279         0.912          6.556          0              270            0
  88  StoveKnob       -2.347         1.095          1.560          288.012        180            180
  89  StoveKnob       -2.788         1.095          1.560          288.012        180            180
  90  StoveKnob       -2.965         1.095          1.560          288.012        180            180
  91  StoveKnob       -2.512         1.095          1.560          288.012        180            180
  92  GarbageCan      -3.711         -0.030         6.376          0              270            0
  93  Toaster         -3.578         0.912          1.763          0              0              0
  94  Curtains        -4.522         2.252          3.391          90             90             0
  95  Window          -4.868         1.629          3.309          90             270            0
  96  Microwave       -2.693         1.430          1.689          0              0              0
  97  LightSwitch     -1.588         1.169          1.506          0              0              0
  98  SinkBasin       -4.196         0.780          3.276          0              270            0
  99  Fridge          -0.324         -0.001         3.602          0              0              0
 100  NorthWall
 101  EastWall
 102  SouthWall
 103  WestWall

Plan:
STEP 1: Turn around and walk over to the counter. | STEP 2: Pick up the head of lettuce off of the counter. | STEP 3: Walk over to the kitchen sink. | STEP 4: Wash the head of lettuce in the sink then pick it back up. | STEP 5: Turn around and take a step forward, then turn left and walk over to the counter, turn left again and take a step forward. | STEP 6: Put the clean head of lettuce on the counter in front of you. | END