Task: rinse off lettuce to prepare a meal

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            0.900          4.25           0              90             0
   1  Potato          2.551          0.806          4.240          0              329.999        0              56
   2  Ladle           -0.544         1.066          2.434          0              0              0              58
   3  Ladle           2.788          1.066          1.102          0              136.999        0              55
   4  DishSponge      1.248          0.790          -1.546         0              0              0              62
   5  ButterKnife     2.175          0.764          4.447          0              329.999        0              56
   6  WineBottle      1.170          1.027          -1.987         0              90             0              55
   7  Glassbottle     -0.907         1.781          1.917          0              0              0              72
   8  Spatula         2.451          0.779          3.895          0              180            0              56
   9  Spatula         -0.519         0.815          0.858          0              270            0              57
  10  Fork            -0.731         0.800          1.953          0              0              0              60
  11  Fork            1.230          1.027          -1.667         0              90             0              55
  12  Egg             2.106          1.905          -1.910         0              0              0              101
  13  Cup             1.925          0.763          4.192          0              270            0              56
  14  Cup             -0.987         0.784          -0.738         0              90             0              99
  15  Plate           2.404          1.027          1.303          0              136.999        0              55
  16  Knife           -0.645         0.841          1.259          0              0              0              112
  17  Tomato          2.673          0.818          3.795          0              0              0              56
  18  Tomato          -0.714         0.870          1.492          0              90             0              112
  19  SoapBottle      -0.997         0.075          2.779          0              0              0              110
  20  Bowl            1.230          1.025          -1.774         0              90             0              55
  21  SaltShaker      -0.920         1.023          2.434          0              0              0              58
  22  PepperShaker    2.210          0.798          1.082          0              317.0          0              68
  23  PepperShaker    2.801          0.760          3.747          0              270            0              56
  24  Lettuce         2.553          0.822          4.387          0              225            0              56
  25  Apple           -0.782         0.866          1.181          0              90             0              112
  26  Apple           -1.102         1.077          1.427          0              0              0              58
  27  Pan             2.042          1.017          1.779          0              0              0              55
  28  Glassbottle     2.754          1.027          1.350          0              136.999        0              55
  29  Knife           2.276          0.789          4.044          0              90             0              56
  30  SoapBottle      2.599          0.763          3.62           0              0              0              56
  31  Egg             -0.645         0.860          1.181          0              90             0              112
  32  Fork            2.100          0.765          3.969          0              0              0              56
  33  Potato          -0.877         1.484          -0.073         0              90             0              99
  34  Ladle           2.100          0.803          4.118          0              270            0              56
  35  Tomato          2.276          0.818          3.969          0              270            0              56
  36  Pot             1.836          1.027          -1.84          0              90             0              53
  37  WineBottle      2.893          1.027          1.200          0              136.999        0              55
  38  Plate           2.945          0.764          4.254          0              225            0              56
  39  Spatula         2.469          0.816          0.606          0              47.0           0              67
  40  PaperTowelRoll  2.473          1.131          0.809          0              136.999        0              55
  41  Lettuce         2.276          0.822          3.821          0              270            0              56
  42  Apple           2.000          1.901          -1.843         0              0              0              101
  43  SaltShaker      -0.455         0.044          2.569          0              0              0              61
  44  PepperShaker    -0.889         0.044          2.417          0              0              0              61
  45  ButterKnife     1.925          0.764          3.895          0              270            0              56
  46  Bread           2.621          1.094          -1.456         0              0              0              55
  47  Cup             -0.947         0.784          -0.073         0              90             0              99
  48  DishSponge      1.592          0.800          1.558          0              317.0          0              70
  49  Bowl            -1.028         0.784          -0.516         0              90             0              99
  50  Spoon           2.597          0.765          3.418          0              329.999        0              56
  51  Mug             -0.803         1.070          0.646          0              90             0              108
  52  Sink            -0.716         1.023          1.333          0              0              0
  53  StoveBurner     1.835          1.018          -1.840         0              90             0
  54  StoveBurner     2.177          1.018          -1.599         0              0              0
  55  CounterTop      2.812          0.992          0.675          0              0              0
  56  DiningTable     2.419          0.003          3.930          0              0              0
  57  Drawer          -0.643         0.828          0.616          0              0              0
  58  CounterTop      -0.813         1.062          2.188          0              0              0
  59  StoveBurner     2.115          1.018          -1.840         0              270            0
  60  Drawer          -0.643         0.831          1.953          0              0              0
  61  Drawer          -0.643         0.833          2.418          0              0              0
  62  Drawer          1.347          0.836          -1.539         0              0              0
  63  Drawer          2.693          0.833          -1.131         0              0              0
  64  Drawer          2.693          0.833          -0.699         0              0              0
  65  Drawer          2.693          0.833          -0.267         0              0              0
  66  Drawer          2.693          0.833          0.163          0              0              0
  67  Drawer          2.524          0.833          0.720          0              2.000          0
  68  Drawer          2.232          0.833          1.036          0              2.000          0
  69  Drawer          1.936          0.833          1.354          0              2.000          0
  70  Drawer          1.646          0.833          1.670          0              2.000          0
  71  Cabinet         1.504          2.475          -1.710         0              0              0
  72  Cabinet         -0.823         2.220          1.621          0              0              0
  73  Cabinet         -0.823         2.220          0.615          0              0              0
  74  Cabinet         1.136          0.388          -1.355         0              0              0
  75  Cabinet         -0.356         0.383          2.626          0              0              0
  76  Cabinet         2.745          2.220          -1.690         0              0              0
  77  Cabinet         1.882          0.383          1.017          0              0              0
  78  Cabinet         1.307          0.473          1.640          0              0              0
  79  Cabinet         1.892          0.383          1.006          0              0              0
  80  Cabinet         2.467          0.383          0.383          0              0              0
  81  Cabinet         2.466          0.383          -0.475         0              0              0
  82  Cabinet         2.466          0.473          0.371          0              0              0
  83  Cabinet         2.386          2.475          -1.710         0              0              0
  84  Cabinet         -0.356         0.383          1.712          0              0              0
  85  Cabinet         2.745          2.220          0.019          0              0              0
  86  Cabinet         -0.663         2.496          0.157          0              0              0
  87  Cabinet         -0.663         2.496          -0.868         0              0              0
  88  Cabinet         -0.356         0.383          0.269          0              0              0
  89  Cabinet         -0.823         2.220          1.603          0              0              0
  90  Cabinet         -0.662         2.234          0.586          0              0              0
  91  Cabinet         2.745          2.220          -0.843         0              0              0
  92  Cabinet         2.745          2.220          -0.827         0              0              0
  93  Cabinet         -0.823         2.220          2.608          0              0              0
  94  Cabinet         2.732          2.226          -1.709         0              0              0
  95  Cabinet         1.137          2.226          -1.709         0              0              0
  96  Cabinet         2.466          0.383          -0.491         0              0              0
  97  Cabinet         2.466          0.383          -1.339         0              0              0
  98  StoveBurner     1.761          1.018          -1.599         0              0              0
  99  Fridge          -0.908         0.0            -0.405         0              0              0
 100  HousePlant      2.517          1.016          1.822          0              0              0
 101  Microwave       1.939          1.745          -1.826         0              0              0
 102  StoveKnob       2.017          1.041          -1.514         0              180            180
 103  StoveKnob       1.934          1.041          -1.514         0              180            180
 104  StoveKnob       2.017          1.041          -1.589         0              180            180
 105  StoveKnob       1.934          1.041          -1.589         0              180            180
 106  Window          1.756          1.608          4.762          90             0              0
 107  HousePlant      2.171          1.004          2.091          0              0              0
 108  CoffeeMachine   -0.942         1.018          0.645          0              90             0
 109  LightSwitch     -0.099         1.410          -2.066         0              0              0
 110  GarbageCan      -0.951         -0.029         2.826          0              0              0
 111  Toaster         -1.007         1.018          2.238          0              90             0
 112  SinkBasin       -0.714         0.805          1.348          0              90             0
 113  Chair           1.615          0.004          4.310          0              107.976        0
 114  Faucet          -1.120         1.013          1.334          0              90             0
 115  Chair           2.759          0.004          3.086          0              358.967        0
 116
 117  NorthWall
 118  EastWall
 119  SouthWall
 120  WestWall

Plan:
STEP 1: turn right then walk straight then turn left towards the wall and walk straight then turn left towards the table | STEP 2: pick up the lettuce off of the table | STEP 3: turn left walk straight then turn left and walk straight towards the counter then turn right towards the sink | STEP 4: put the lettuce inside the sink and turn on the water then drain the water and remove the lettuce from the sink | STEP 5: turn right and walk straight then turn left towards the counter | STEP 6: put the lettuce down on the edge of the counter | END