Task: rinse the lettuce and put it 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           -0.25          0.930          0.5            0              270            0
   1  Potato          -1.119         1.036          1.258          0              90             0              120
   2  Potato          0.929          0.924          -1.475         0              0              0              118
   3  Ladle           3.029          0.749          -0.784         0              180            0              59
   4  DishSponge      -0.987         0.899          -0.746         0              45             0              72
   5  DishSponge      0.330          0.511          -1.475         0              0              0              58
   6  ButterKnife     3.044          0.900          -0.399         0              0              0              71
   7  ButterKnife     -0.862         0.900          -0.047         0              0              0              72
   8  Spatula         -0.991         0.721          -0.273         0              90             0              79
   9  Spatula         -0.786         0.146          1.168          0              90             0              96
  10  Spoon           3.069          0.748          0.032          0              180            0              117
  11  Fork            0.798          0.908          0.727          0              0              0              103
  12  Fork            -0.827         0.131          -0.273         0              0              0              92
  13  CellPhone       -0.655         0.897          -0.571         0              45             0              72
  14  Apple           0.929          1.321          -1.503         0              0              0              118
  15  Lettuce         -0.830         0.965          -0.800         0              45             0              72
  16  Lettuce         -0.624         0.965          -0.702         0              45             0              72
  17  SaltShaker      -0.745         0.514          -0.098         0              0              0              99
  18  PepperShaker    0.967          0.907          0.747          0              0              0              103
  19  PepperShaker    0.468          0.701          -1.515         0              0              0              80
  20  Bowl            3.084          0.174          0.700          0              0              0              81
  21  Bowl            3.028          0.172          -0.828         0              0              0              84
  22  SoapBottle      3.255          0.184          -0.259         0              0              0              83
  23  SoapBottle      3.102          1.473          -1.137         0              0              0              86
  24  Tomato          0.095          0.937          -1.625         0              45             0              93
  25  Egg             1.242          0.763          -1.354         0              0              0              118
  26  Egg             3.355          0.953          -0.399         0              0              0              71
  27  Cup             3.277          0.898          -0.599         0              0              0              71
  28  Cup             -0.985         0.995          1.417          0              90             0              120
  29  Plate           0.808          1.687          -1.619         0              0              0              87
  30  Plate           0.722          0.923          0.374          0              36.810         0              103
  31  Knife           0.950          0.936          0.447          0              36.810         0              103
  32  Knife           3.277          0.926          -0.300         0              0              0              71
  33  Plate           3.044          1.477          -1.648         0              0              0              70
  34  Glassbottle     0.967          0.911          0.889          0              0              0              103
  35  SoapBottle      3.084          0.184          -0.404         0              0              0              83
  36  Potato          3.128          0.139          1.6            0              225            0              113
  37  Fork            0.967          0.908          0.180          0              0              0              103
  38  Ladle           2.906          0.749          -0.361         0              270            0              68
  39  Pot             -0.600         0.902          -1.090         0              135            0              61
  40  Kettle          -0.419         0.902          -1.269         0              315            0              74
  41  Spatula         -0.285         0.915          -1.450         0              135            0              93
  42  Knife           0.105          0.925          -1.430         0              45             0              93
  43  Lettuce         0.967          0.976          0.605          0              0              0              103
  44  Cup             0.856          1.672          -1.410         0              0              0              87
  45  SaltShaker      3.255          0.172          -0.404         0              0              0              83
  46  Egg             -0.985         1.050          1.205          0              90             0              120
  47  PepperShaker    1.351          1.671          -1.759         0              0              0              63
  48  ButterKnife     0.445          0.911          0.827          0              0              0              103
  49  Apple           3.235          0.174          1.546          0              225            0              113
  50  Pan             0.341          0.873          -1.649         0              167.065        0              93
  51  Bread           1.534          0.972          0.486          0              289.287        0              103
  52  CellPhone       0.436          0.905          0.223          0              36.810         0              103
  53  DishSponge      3.102          1.464          -1.235         0              0              0              86
  54  Tomato          0.002          0.937          -1.533         0              45             0              93
  55  Spoon           1.098          0.909          0.747          0              0              0              103
  56  Bowl            -0.789         0.897          0.399          0              0              0              72
  57  Mug             3.049          0.966          0.591          0              270            0              115
  58  Drawer          0.376          0.572          -1.509         0              0              0
  59  Drawer          3.020          0.769          -0.783         0              180            0
  60  Drawer          -0.860         0.577          1.429          0              0              0
  61  StoveBurner     -0.600         0.897          -1.090         0              135            0
  62  Drawer          0.376          0.191          -1.509         0              0              0
  63  Cabinet         1.402          1.874          -1.259         0              0              0
  64  Cabinet         -0.202         1.963          -1.328         0              0              0
  65  Drawer          -0.860         0.765          1.429          0              0              0
  66  Drawer          -0.677         0.765          -0.700         0              0              0
  67  StoveBurner     -0.420         0.897          -0.920         0              135            0
  68  Drawer          3.020          0.769          -0.407         0              180            0
  69  Drawer          -0.860         0.577          0.663          0              0              0
  70  Cabinet         2.819          1.768          -1.850         0              0              0
  71  CounterTop      3.111          0.936          0.019          0              0              0
  72  CounterTop      -1.007         0.935          -0.039         0              0              0
  73  Drawer          -0.860         0.385          0.663          0              0              0
  74  StoveBurner     -0.419         0.897          -1.269         0              315            0
  75  Drawer          -0.047         0.573          -1.324         0              0              0
  76  Drawer          -0.860         0.765          0.663          0              0              0
  77  Drawer          -0.860         0.385          -0.100         0              0              0
  78  Drawer          0.376          0.380          -1.509         0              0              0
  79  Drawer          -0.860         0.765          -0.100         0              0              0
  80  Drawer          0.376          0.765          -1.509         0              0              0
  81  Cabinet         2.849          0.419          0.409          0              0              0
  82  Drawer          -0.047         0.765          -1.324         0              0              0
  83  Cabinet         2.849          0.419          -0.610         0              0              0
  84  Cabinet         2.849          0.419          -0.959         0              0              0
  85  Cabinet         3.069          1.666          -0.709         0              0              0
  86  Cabinet         2.819          1.768          -1.047         0              0              0
  87  Cabinet         0.620          1.874          -1.259         0              0              0
  88  Cabinet         0.140          1.666          -1.559         0              0              0
  89  Cabinet         -0.189         1.666          -1.340         0              0              0
  90  Cabinet         -0.709         1.963          -0.819         0              0              0
  91  Cabinet         -0.920         1.665          -0.620         0              0              0
  92  Drawer          -0.860         0.190          -0.100         0              0              0
  93  CounterTop      0.133          0.935          -1.457         0              0              0
  94  Drawer          3.020          0.769          0.695          0              180            0
  95  Drawer          -0.677         0.577          -0.700         0              0              0
  96  Drawer          -0.860         0.190          1.429          0              0              0
  97  Drawer          -0.047         0.192          -1.324         0              0              0
  98  Drawer          -0.677         0.193          -0.700         0              0              0
  99  Drawer          -0.860         0.577          -0.100         0              0              0
 100  Sink            3.078          0.887          0.086          0              0              0
 101  StoveBurner     -0.239         0.897          -1.089         0              315            0
 102  Drawer          -0.860         0.190          0.663          0              0              0
 103  CounterTop      1.210          0.937          0.463          0              0              0
 104  Drawer          -0.047         0.381          -1.324         0              0              0
 105  Drawer          -0.677         0.387          -0.700         0              0              0
 106  Mirror          -1.295         1.630          0.045          0              0              0
 107  Drawer          -0.860         0.385          1.429          0              0              0
 108  HousePlant      3.196          0.891          -0.368         0              0              0
 109  StoveKnob       -0.090         0.790          -1.009         270            45             0
 110  StoveKnob       -0.280         0.790          -0.819         270            45             0
 111  StoveKnob       -0.180         0.790          -0.920         270            45             0
 112  StoveKnob       -0.370         0.790          -0.720         270            45             0
 113  GarbageCan      3.137          0.025          1.545          0              225            0
 114  Window          3.703          1.675          0.046          90             90             0
 115  CoffeeMachine   3.214          0.890          0.697          0              270            0
 116  LightSwitch     2.592          1.309          -1.880         0              0              0
 117  SinkBasin       3.069          0.736          0.108          0              90             0
 118  Fridge          1.008          0.029          -1.467         0              0              0
 119  Toaster         -1.035         0.873          -0.396         0              90             0
 120  Microwave       -1.034         0.874          1.428          0              90             0
 121  Faucet          3.305          0.886          0.094          270            180            0
 122  NorthWall
 123  EastWall
 124  SouthWall
 125  WestWall

Plan:
STEP 1: go to the stove | STEP 2: pick up the the lettuce closest to the wall on the counter to the right of the stove | STEP 3: take the lettuce to the sink | STEP 4: rinse the lettuce in the sink | STEP 5: take the lettuce to the right of the sink | STEP 6: put the lettuce on the counter | END