Task: wash off lettuce and put it onto 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           1.25           0.900          7.0            0              180            0
   1  Potato          -0.291         0.794          6.612          0              225            0              88
   2  DishSponge      0.260          0.771          0.396          0              0              0              49
   3  DishSponge      1.349          0.770          4.644          0              0              0              42
   4  ButterKnife     0.532          0.772          0.563          0              90             0              44
   5  Kettle          1.317          0.988          4.294          0              0              0              47
   6  Pot             1.32           0.988          3.848          0              0              0              51
   7  Spoon           -0.096         0.761          6.941          0              0              0              88
   8  Spoon           0.668          0.773          0.451          0              0              0              44
   9  Spatula         1.582          1.007          3.511          0              0              0              52
  10  Egg             2.094          1.565          6.001          0              270            0              74
  11  Plate           1.406          0.141          2.159          0              0              0              41
  12  Plate           1.493          0.993          0.440          0              0              0              52
  13  Knife           1.387          0.920          2.034          0              90             0              75
  14  PepperShaker    -0.028         0.755          6.786          0              225            0              88
  15  SaltShaker      -0.158         0.755          6.666          0              270            0              88
  16  Lettuce         0.059          0.848          6.698          0              225            0              88
  17  Bowl            -0.611         0.991          0.303          0              0              0              52
  18  Bread           1.099          1.048          0.434          0              0              0              52
  19  Egg             1.907          0.130          6.498          0              0              0              76
  20  Knife           0.058          0.789          6.261          0              135            0              88
  21  Fork            -0.487         0.760          6.807          0              135            0              88
  22  Apple           0.696          1.067          0.120          0              0              0              52
  23  Kettle          1.562          0.988          3.848          0              0              0              46
  24  Plate           -0.413         0.144          0.353          0              0              0              60
  25  SaltShaker      1.143          0.136          4.724          0              0              0              54
  26  Lettuce         0.305          0.848          6.479          0              270            0              88
  27  SoapBottle      -0.574         0.760          6.240          0              225            0              88
  28  Spatula         0.871          0.787          0.395          0              90             0              44
  29  PaperTowelRoll  -0.621         0.864          6.479          0              270            0              88
  30  Pot             1.559          0.988          4.294          0              0              0              50
  31  Potato          -0.284         0.794          6.169          0              180            0              88
  32  ButterKnife     0.923          0.983          0.303          0              0              0              52
  33  PepperShaker    1.573          0.135          2.498          0              0              0              64
  34  Pan             1.313          0.985          4.284          0              0              0              47
  35  Tomato          2.137          1.565          5.251          0              270            0              74
  36  DishSponge      -0.183         0.759          6.237          0              135            0              88
  37  Cup             0.212          0.756          6.196          0              135            0              88
  38  Spoon           -0.003         0.761          6.541          0              0              0              88
  39  Mug             -0.422         0.755          6.653          0              135            0              88
  40  Cabinet         1.307          2.455          4.360          0              0              0
  41  Cabinet         1.054          0.422          1.710          0              0              0
  42  Drawer          1.280          0.808          4.718          0              0              0
  43  Cabinet         1.307          2.455          3.607          0              0              0
  44  Drawer          0.736          0.802          0.521          0              0              0
  45  Drawer          1.276          0.802          3.291          0              0              0
  46  StoveBurner     1.562          0.982          3.848          0              0              0
  47  StoveBurner     1.317          0.982          4.294          0              0              0
  48  Drawer          -0.482         0.802          0.521          0              0              0
  49  Drawer          0.124          0.802          0.521          0              0              0
  50  StoveBurner     1.559          0.982          4.294          0              0              0
  51  StoveBurner     1.320          0.982          3.848          0              0              0
  52  CounterTop      1.391          1.028          0.897          0              0              0
  53  CounterTop      1.391          1.028          4.716          0              0              0
  54  Cabinet         1.054          0.422          4.548          0              0              0
  55  Cabinet         1.317          2.134          0.517          0              0              0
  56  Cabinet         1.317          2.134          4.889          0              0              0
  57  Cabinet         1.317          2.134          3.095          0              0              0
  58  Cabinet         0.443          0.422          0.743          0              0              0
  59  Cabinet         1.270          2.134          0.434          0              0              0
  60  Cabinet         -0.775         0.422          0.743          0              0              0
  61  Cabinet         -0.168         0.422          0.743          0              0              0
  62  Cabinet         1.317          2.134          1.534          0              0              0
  63  Cabinet         1.054          0.422          2.990          0              0              0
  64  Cabinet         1.054          0.422          2.944          0              0              0
  65  Cabinet         -0.263         2.134          0.434          0              0              0
  66  Cabinet         0.252          2.134          0.434          0              0              0
  67  Sink            1.391          1.006          2.326          0              0              0
  68  Microwave       0.108          0.981          0.262          0              0              0
  69  HousePlant      -0.165         0.826          6.444          0              0              0
  70  CoffeeMachine   1.551          0.982          0.953          0              270            0
  71  Toaster         1.473          0.981          4.715          0              270            0
  72  Window          -2.065         1.916          3.626          90             90             0
  73  Window          1.763          2.007          2.299          90             270            0
  74  Fridge          2.035          0.0            5.625          0              0              0
  75  SinkBasin       1.387          0.880          2.338          0              90             0
  76  GarbageCan      2.001          -0.044         6.503          0              0              0
  77  StoveKnob       1.140          0.934          3.987          45             270            0
  78  StoveKnob       1.140          0.934          4.309          45             270            0
  79  StoveKnob       1.140          0.934          4.140          45             270            0
  80  StoveKnob       1.140          0.934          3.824          45             270            0
  81  Vase            -0.226         0.834          6.993          0              0              0
  82  Vase            2.098          0.043          7.070          0              257.232        0
  83  Vase            -0.594         0.835          6.130          0              225            0
  84  LightSwitch     -2.0           1.549          6.045          0              90             0
  85  Safe            2.046          1.072          7.054          0              257.232        0
  86  Faucet          1.534          1.025          2.371          0              294.391        0
  87  Blinds          1.738          2.563          2.312          0              90             0
  88  DiningTable     -0.156         0.000          6.474          0              0              0
  89  Chair           0.291          0.002          6.142          0              310.162        0
  90  GarbageBag      -1.092         0.318          0.268          270            90             83.492
  91  NorthWall
  92  EastWall
  93  SouthWall
  94  WestWall

Plan:
STEP 1: look down and walk straight then turn right towards the table | STEP 2: pick up the lettuce on the edge of the black table | STEP 3: turn around and then walk straight then turn right and walk straight to the counter and then turn right then turn left and walk straight to the sink and turn left | STEP 4: put the lettuce down inside the left side of the sink and turn the water on and then drain the water and pick up the lettuce | STEP 5: turn right then walk straight to the counter then turn left | STEP 6: put the lettuce down next to the coffee machine on the counter | END