Task: Put clean 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           2.25           0.930          -1.5           0              270            0
   1  Ladle           3.084          0.212          -0.404         0              0              0              79
   2  Ladle           -0.099         0.937          -1.635         0              135            0              89
   3  DishSponge      -0.182         1.263          -1.502         0              45             0              85
   4  Glassbottle     2.987          0.748          0.165          0              90             0              113
   5  Pot             3.044          1.464          -1.648         0              270            0              66
   6  Pot             -0.935         0.900          0.846          0              0              0              68
   7  Spoon           -0.708         0.519          -0.730         0              135            0              91
   8  Fork            0.967          0.911          0.747          0              0              0              99
   9  Fork            3.152          0.713          0.761          0              270            0              90
  10  CellPhone       -0.786         0.323          1.343          0              0              0              103
  11  CellPhone       2.966          0.898          -0.599         0              0              0              67
  12  Mug             0.929          1.242          -1.503         0              0              0              114
  13  Mug             3.049          0.966          0.591          0              270            0              111
  14  Apple           0.967          0.984          0.464          0              0              0              99
  15  Apple           3.122          0.974          -0.698         0              0              0              67
  16  Lettuce         -0.862         0.965          0.176          0              0              0              68
  17  Lettuce         3.277          0.966          -0.698         0              0              0              67
  18  Lettuce         1.086          1.313          -1.503         0              0              0              114
  19  SaltShaker      0.422          0.127          -1.393         0              0              0              58
  20  SaltShaker      3.084          0.172          -0.786         0              0              0              80
  21  PepperShaker    -0.786         0.703          1.343          0              0              0              61
  22  Bowl            0.760          1.671          -1.689         0              0              0              83
  23  SoapBottle      -0.917         1.267          -0.811         0              45             0              87
  24  Egg             -1.119         1.050          1.470          0              90             0              116
  25  Cup             3.140          0.175          0.489          0              0              0              77
  26  Cup             3.197          0.175          0.770          0              0              0              77
  27  Plate           3.031          1.477          -1.235         0              0              0              82
  28  Knife           0.179          0.925          -1.373         0              0              0              89
  29  Plate           0.608          0.921          0.337          0              36.810         0              99
  30  Glassbottle     -0.090         0.901          -1.440         0              45             0              89
  31  SoapBottle      0.356          0.917          0.426          0              0              0              99
  32  Potato          3.152          0.785          -0.100         0              90             0              113
  33  Fork            -0.868         0.707          -0.186         0              0              0              75
  34  Ladle           0.967          0.945          0.180          0              0              0              99
  35  Pot             -0.600         0.902          -1.090         0              135            0              57
  36  Kettle          -0.237         0.900          -1.099         0              45             0              97
  37  Spatula         -0.007         0.915          -1.728         0              135            0              89
  38  Knife           -0.880         0.925          -0.850         0              135            0              68
  39  Lettuce         -1.015         0.965          -0.719         0              45             0              68
  40  Cup             3.200          0.898          -0.897         0              0              0              67
  41  SaltShaker      -0.909         0.127          1.693          0              0              0              92
  42  Egg             0.929          1.126          -1.475         0              0              0              114
  43  PepperShaker    2.966          0.897          -0.499         0              0              0              67
  44  ButterKnife     -0.868         0.131          -0.011         0              0              0              88
  45  Apple           -1.052         1.071          1.311          0              90             0              116
  46  Pan             0.341          0.873          -1.649         0              167.065        0              89
  47  Bread           1.534          0.972          0.486          0              289.287        0              99
  48  CellPhone       0.336          0.897          -1.588         0              0              0              89
  49  DishSponge      0.422          0.512          -1.475         0              0              0              54
  50  Tomato          0.151          0.937          -1.476         0              45             0              89
  51  Spoon           -0.789         0.901          0.399          0              0              0              68
  52  Bowl            1.229          0.908          0.605          0              0              0              99
  53  Mug             0.851          0.706          -1.354         0              270            0              114
  54  Drawer          0.376          0.572          -1.509         0              0              0
  55  Drawer          3.020          0.769          -0.783         0              180            0
  56  Drawer          -0.860         0.577          1.429          0              0              0
  57  StoveBurner     -0.600         0.897          -1.090         0              135            0
  58  Drawer          0.376          0.191          -1.509         0              0              0
  59  Cabinet         1.402          1.874          -1.259         0              0              0
  60  Cabinet         -0.202         1.963          -1.328         0              0              0
  61  Drawer          -0.860         0.765          1.429          0              0              0
  62  Drawer          -0.677         0.765          -0.700         0              0              0
  63  StoveBurner     -0.420         0.897          -0.920         0              135            0
  64  Drawer          3.020          0.769          -0.407         0              180            0
  65  Drawer          -0.860         0.577          0.663          0              0              0
  66  Cabinet         2.819          1.768          -1.850         0              0              0
  67  CounterTop      3.111          0.936          0.019          0              0              0
  68  CounterTop      -1.007         0.935          -0.039         0              0              0
  69  Drawer          -0.860         0.385          0.663          0              0              0
  70  StoveBurner     -0.419         0.897          -1.269         0              315            0
  71  Drawer          -0.047         0.573          -1.324         0              0              0
  72  Drawer          -0.860         0.765          0.663          0              0              0
  73  Drawer          -0.860         0.385          -0.100         0              0              0
  74  Drawer          0.376          0.380          -1.509         0              0              0
  75  Drawer          -0.860         0.765          -0.100         0              0              0
  76  Drawer          0.376          0.765          -1.509         0              0              0
  77  Cabinet         2.849          0.419          0.409          0              0              0
  78  Drawer          -0.047         0.765          -1.324         0              0              0
  79  Cabinet         2.849          0.419          -0.610         0              0              0
  80  Cabinet         2.849          0.419          -0.959         0              0              0
  81  Cabinet         3.069          1.666          -0.709         0              0              0
  82  Cabinet         2.819          1.768          -1.047         0              0              0
  83  Cabinet         0.620          1.874          -1.259         0              0              0
  84  Cabinet         0.140          1.666          -1.559         0              0              0
  85  Cabinet         -0.189         1.666          -1.340         0              0              0
  86  Cabinet         -0.709         1.963          -0.819         0              0              0
  87  Cabinet         -0.920         1.665          -0.620         0              0              0
  88  Drawer          -0.860         0.190          -0.100         0              0              0
  89  CounterTop      0.133          0.935          -1.457         0              0              0
  90  Drawer          3.020          0.769          0.695          0              180            0
  91  Drawer          -0.677         0.577          -0.700         0              0              0
  92  Drawer          -0.860         0.190          1.429          0              0              0
  93  Drawer          -0.047         0.192          -1.324         0              0              0
  94  Drawer          -0.677         0.193          -0.700         0              0              0
  95  Drawer          -0.860         0.577          -0.100         0              0              0
  96  Sink            3.078          0.887          0.086          0              0              0
  97  StoveBurner     -0.239         0.897          -1.089         0              315            0
  98  Drawer          -0.860         0.190          0.663          0              0              0
  99  CounterTop      1.210          0.937          0.463          0              0              0
 100  Drawer          -0.047         0.381          -1.324         0              0              0
 101  Drawer          -0.677         0.387          -0.700         0              0              0
 102  Mirror          -1.295         1.630          0.045          0              0              0
 103  Drawer          -0.860         0.385          1.429          0              0              0
 104  HousePlant      3.196          0.891          -0.368         0              0              0
 105  StoveKnob       -0.090         0.790          -1.009         270            45             0
 106  StoveKnob       -0.280         0.790          -0.819         270            45             0
 107  StoveKnob       -0.180         0.790          -0.920         270            45             0
 108  StoveKnob       -0.370         0.790          -0.720         270            45             0
 109  GarbageCan      3.137          0.025          1.545          0              225            0
 110  Window          3.703          1.675          0.046          90             90             0
 111  CoffeeMachine   3.214          0.890          0.697          0              270            0
 112  LightSwitch     2.592          1.309          -1.880         0              0              0
 113  SinkBasin       3.069          0.736          0.108          0              90             0
 114  Fridge          1.008          0.029          -1.467         0              0              0
 115  Toaster         -1.035         0.873          -0.396         0              90             0
 116  Microwave       -1.034         0.874          1.428          0              90             0
 117  Faucet          3.305          0.886          0.094          270            180            0
 118  NorthWall
 119  EastWall
 120  SouthWall
 121  WestWall

Plan:
STEP 1: Turn around and go to the counter with the plant on it. | STEP 2: Pick up the lettuce to the right of the plant on the counter. | STEP 3: Turn left and go to the sink. | STEP 4: Put the lettuce in the sink, rinse it off and pick it back up. | STEP 5: Go to the right and turn left towards the counter. | STEP 6: Put the lettuce on the counter to the right of the phone. | END