Task: Clean the lettuce to place on the counter in front of the coffee machine.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -2.0           0.914          2.25           0              0              0
   1  Potato          -3.442         1.578          2.016          0              90             0              75
   2  Kettle          -3.424         0.966          1.971          0              0              0              52
   3  Spoon           -1.127         0.892          0.049          0              90             0              80
   4  Spoon           -0.994         0.892          0.152          0              90             0              80
   5  Fork            -1.523         0.880          0.152          0              270            0              80
   6  Fork            -3.176         0.916          2.844          0              0              0              44
   7  Cup             -1.787         0.891          0.152          0              90             0              80
   8  Cup             -0.790         0.722          3.869          0              180            0              70
   9  Knife           -1.391         0.915          0.461          0              180            0              80
  10  Tomato          -0.994         0.960          0.358          0              90             0              80
  11  Tomato          -1.192         0.155          3.820          0              270            0              76
  12  Bowl            -2.410         0.079          3.664          0              0              0              55
  13  Bowl            -3.654         0.914          1.357          0              0              0              53
  14  SaltShaker      -1.127         0.887          0.564          0              90             0              80
  15  SaltShaker      -1.523         0.887          0.564          0              90             0              80
  16  Lettuce         -2.302         1.001          3.890          0              0              0              44
  17  Mug             -0.556         0.981          3.926          0              180            0              70
  18  Mug             -3.426         0.945          3.275          0              90             0              44
  19  Apple           -1.711         0.975          4.231          0              0              0              44
  20  Apple           -0.673         1.046          4.114          0              180            0              70
  21  Egg             -0.556         1.309          4.097          0              180            0              70
  22  Knife           -3.176         0.939          3.499          0              0              0              44
  23  Fork            -0.994         0.892          0.461          0              90             0              80
  24  Bread           -1.523         0.963          0.270          0              280.162        0              80
  25  Potato          -1.127         0.923          0.461          0              90             0              80
  26  Plate           -3.176         0.919          1.440          0              0              0              53
  27  Pot             -3.144         0.963          2.374          0              0              0              47
  28  Kettle          -3.424         0.966          2.374          0              0              0              50
  29  WineBottle      -1.504         0.916          4.231          0              0              0              44
  30  Bowl            -0.994         0.895          -0.053         0              90             0              80
  31  Tomato          -3.559         0.984          1.106          0              0              0              53
  32  Cup             -3.537         1.546          2.016          0              90             0              75
  33  Spatula         -3.176         0.930          3.827          0              0              0              44
  34  SoapBottle      -3.540         1.459          3.149          0              0              0              51
  35  Lettuce         -1.259         0.977          0.255          0              90             0              80
  36  Pan             -2.614         0.902          3.620          0              0              0              44
  37  Apple           -1.391         0.951          0.049          0              90             0              80
  38  SaltShaker      -3.471         1.451          3.429          0              0              0              61
  39  PepperShaker    -3.176         0.912          1.106          0              0              0              53
  40  ButterKnife     -3.272         0.915          1.189          0              0              0              53
  41  DishSponge      -1.612         0.080          3.586          0              0              0              76
  42  Spoon           -3.463         0.916          1.440          0              0              0              53
  43  Mug             -3.508         1.454          2.922          0              0              0              51
  44  CounterTop      -3.381         0.950          3.335          0              0              0
  45  Drawer          -3.121         0.775          1.357          0              0              0
  46  Drawer          -3.121         0.777          2.916          0              0              0
  47  StoveBurner     -3.148         0.958          2.374          0              0              0
  48  Sink            -1.797         0.917          3.660          0              0              0
  49  Cabinet         -1.421         0.388          3.459          0              0              0
  50  StoveBurner     -3.424         0.958          2.374          0              0              0
  51  Cabinet         -3.365         1.931          2.676          0              0              0
  52  StoveBurner     -3.424         0.958          1.971          0              0              0
  53  CounterTop      -3.381         0.951          1.356          0              0              0
  54  Drawer          -3.121         0.781          3.295          0              0              0
  55  Cabinet         -2.205         0.388          3.459          0              0              0
  56  Cabinet         -2.963         0.388          3.459          0              0              0
  57  Cabinet         -2.992         0.388          2.683          0              0              0
  58  Cabinet         -3.352         2.205          1.715          0              0              0
  59  Cabinet         -3.352         2.205          2.653          0              0              0
  60  Cabinet         -2.189         0.388          3.466          0              0              0
  61  Cabinet         -3.365         1.931          3.963          0              0              0
  62  Cabinet         -3.365         1.931          1.056          0              0              0
  63  Cabinet         -2.992         0.388          1.037          0              0              0
  64  StoveBurner     -3.143         0.958          1.971          0              0              0
  65  StoveKnob       -3.599         1.110          2.017          0              0              105.000
  66  StoveKnob       -3.599         1.110          1.867          0              0              105.000
  67  StoveKnob       -3.599         1.110          2.267          0              0              105.000
  68  StoveKnob       -3.599         1.110          2.427          0              0              105.000
  69  Toaster         -2.654         0.902          4.064          0              180            0
  70  Fridge          -0.439         0.014          3.996          0              0              0
  71  LightSwitch     0.25           1.383          2.085          0              270            0
  72  Window          -1.430         1.338          -0.347         90             0              0
  73  CoffeeMachine   -3.550         0.902          3.274          0              90             0
  74  SinkBasin       -1.802         0.778          3.700          0              0              0
  75  Microwave       -3.484         1.430          2.182          0              90             0
  76  GarbageCan      -1.184         -0.020         3.794          0              270            0
  77  Blinds          -1.404         2.092          -0.296         0              0              0
  78  Stool           -1.373         0.014          1.048          1.214          20.754         0
  79  Faucet          -1.788         0.903          3.931          270            90             0
  80  DiningTable     -1.399         0.010          0.238          0              0              0
  81  GarbageBag      -0.291         0.336          -0.034         272.372        348.812        147.313
  82  NorthWall
  83  EastWall
  84  SouthWall
  85  WestWall

Plan:
STEP 1: Turn to your left walking partly to the stove then turning right to face the counter. | STEP 2: Walk towards the counter and pick up the lettuce. | STEP 3: Turn around take a step and turn left then a quick right to face the sink at the end of the counter. | STEP 4: Turn slightly to place the lettuce in the sink and turn on the water. Turn off the water and take the lettuce back out. | STEP 5: Turn left and walk towards the counter. | STEP 6: Place the lettuce on the counter in front of the coffee machine. | END