Task: Put a cleaned head of lettuce on a counter top.

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          1.0            0              180            0
   1  Ladle           1.098          0.947          0.322          0              0              0              92
   2  DishSponge      3.084          0.176          0.841          0              0              0              70
   3  Glassbottle     0.022          0.901          -1.588         0              0              0              82
   4  Pot             1.229          0.911          0.747          0              90             0              92
   5  Pot             3.031          1.464          -1.235         0              270            0              75
   6  Spoon           -0.868         0.132          -0.098         0              0              0              81
   7  Fork            0.179          0.900          -1.731         0              0              0              82
   8  Fork            -1.008         0.900          -0.047         0              0              0              61
   9  CellPhone       0.550          0.908          0.259          0              36.810         0              92
  10  Apple           1.242          0.959          -1.475         0              0              0              107
  11  Lettuce         3.122          0.966          -0.798         0              0              0              60
  12  SaltShaker      -0.984         0.896          -0.853         0              45             0              61
  13  SaltShaker      0.330          0.508          -1.475         0              0              0              47
  14  PepperShaker    2.966          0.897          -0.897         0              0              0              60
  15  Bowl            1.229          0.905          0.464          0              0              0              92
  16  Bowl            -0.033         0.897          -1.291         0              45             0              82
  17  Tomato          3.028          0.784          -0.100         0              90             0              106
  18  Egg             -1.085         1.050          1.311          0              90             0              109
  19  Egg             -1.052         1.050          1.523          0              90             0              109
  20  Plate           3.028          0.188          -0.404         0              0              0              72
  21  Knife           3.277          0.926          -0.698         0              0              0              60
  22  Plate           3.141          0.188          -0.786         0              0              0              73
  23  Glassbottle     2.976          1.465          -1.550         0              0              0              59
  24  SoapBottle      2.915          0.186          0.911          0              0              0              70
  25  Potato          -1.052         1.036          1.417          0              90             0              109
  26  Fork            0.836          0.911          0.464          0              90             0              92
  27  Ladle           0.533          0.947          0.527          0              0              0              92
  28  Pot             0.423          0.900          0.869          0              0              0              92
  29  Kettle          -0.239         0.902          -1.089         0              315            0              90
  30  Spatula         -0.950         0.341          1.693          0              270            0              96
  31  Knife           0.833          0.933          0.291          0              36.810         0              92
  32  Lettuce         -0.702         0.965          -0.726         0              45             0              61
  33  Cup             0.719          0.905          0.254          0              36.810         0              92
  34  SaltShaker      -0.058         0.896          -1.779         0              45             0              82
  35  Egg             0.773          0.938          -1.448         0              0              0              107
  36  PepperShaker    3.277          0.897          -0.897         0              0              0              60
  37  ButterKnife     3.029          0.712          -0.408         0              180            0              57
  38  Apple           1.086          1.321          -1.503         0              0              0              107
  39  Pan             -0.419         0.902          -1.269         0              315            0              63
  40  Bread           0.710          0.986          0.527          0              0              0              92
  41  CellPhone       0.022          0.897          -1.445         0              0              0              82
  42  DishSponge      3.028          0.746          0.231          0              90             0              106
  43  Tomato          -0.885         0.937          -0.643         0              45             0              61
  44  Spoon           2.988          0.713          -0.823         0              180            0              48
  45  Bowl            1.208          1.671          -1.480         0              0              0              52
  46  Mug             2.914          0.170          -0.744         0              90             0              73
  47  Drawer          0.376          0.572          -1.509         0              0              0
  48  Drawer          3.020          0.769          -0.783         0              180            0
  49  Drawer          -0.860         0.577          1.429          0              0              0
  50  StoveBurner     -0.600         0.897          -1.090         0              135            0
  51  Drawer          0.376          0.191          -1.509         0              0              0
  52  Cabinet         1.402          1.874          -1.259         0              0              0
  53  Cabinet         -0.202         1.963          -1.328         0              0              0
  54  Drawer          -0.860         0.765          1.429          0              0              0
  55  Drawer          -0.677         0.765          -0.700         0              0              0
  56  StoveBurner     -0.420         0.897          -0.920         0              135            0
  57  Drawer          3.020          0.769          -0.407         0              180            0
  58  Drawer          -0.860         0.577          0.663          0              0              0
  59  Cabinet         2.819          1.768          -1.850         0              0              0
  60  CounterTop      3.111          0.936          0.019          0              0              0
  61  CounterTop      -1.007         0.935          -0.039         0              0              0
  62  Drawer          -0.860         0.385          0.663          0              0              0
  63  StoveBurner     -0.419         0.897          -1.269         0              315            0
  64  Drawer          -0.047         0.573          -1.324         0              0              0
  65  Drawer          -0.860         0.765          0.663          0              0              0
  66  Drawer          -0.860         0.385          -0.100         0              0              0
  67  Drawer          0.376          0.380          -1.509         0              0              0
  68  Drawer          -0.860         0.765          -0.100         0              0              0
  69  Drawer          0.376          0.765          -1.509         0              0              0
  70  Cabinet         2.849          0.419          0.409          0              0              0
  71  Drawer          -0.047         0.765          -1.324         0              0              0
  72  Cabinet         2.849          0.419          -0.610         0              0              0
  73  Cabinet         2.849          0.419          -0.959         0              0              0
  74  Cabinet         3.069          1.666          -0.709         0              0              0
  75  Cabinet         2.819          1.768          -1.047         0              0              0
  76  Cabinet         0.620          1.874          -1.259         0              0              0
  77  Cabinet         0.140          1.666          -1.559         0              0              0
  78  Cabinet         -0.189         1.666          -1.340         0              0              0
  79  Cabinet         -0.709         1.963          -0.819         0              0              0
  80  Cabinet         -0.920         1.665          -0.620         0              0              0
  81  Drawer          -0.860         0.190          -0.100         0              0              0
  82  CounterTop      0.133          0.935          -1.457         0              0              0
  83  Drawer          3.020          0.769          0.695          0              180            0
  84  Drawer          -0.677         0.577          -0.700         0              0              0
  85  Drawer          -0.860         0.190          1.429          0              0              0
  86  Drawer          -0.047         0.192          -1.324         0              0              0
  87  Drawer          -0.677         0.193          -0.700         0              0              0
  88  Drawer          -0.860         0.577          -0.100         0              0              0
  89  Sink            3.078          0.887          0.086          0              0              0
  90  StoveBurner     -0.239         0.897          -1.089         0              315            0
  91  Drawer          -0.860         0.190          0.663          0              0              0
  92  CounterTop      1.210          0.937          0.463          0              0              0
  93  Drawer          -0.047         0.381          -1.324         0              0              0
  94  Drawer          -0.677         0.387          -0.700         0              0              0
  95  Mirror          -1.295         1.630          0.045          0              0              0
  96  Drawer          -0.860         0.385          1.429          0              0              0
  97  HousePlant      3.196          0.891          -0.368         0              0              0
  98  StoveKnob       -0.090         0.790          -1.009         270            45             0
  99  StoveKnob       -0.280         0.790          -0.819         270            45             0
 100  StoveKnob       -0.180         0.790          -0.920         270            45             0
 101  StoveKnob       -0.370         0.790          -0.720         270            45             0
 102  GarbageCan      3.137          0.025          1.545          0              225            0
 103  Window          3.703          1.675          0.046          90             90             0
 104  CoffeeMachine   3.214          0.890          0.697          0              270            0
 105  LightSwitch     2.592          1.309          -1.880         0              0              0
 106  SinkBasin       3.069          0.736          0.108          0              90             0
 107  Fridge          1.008          0.029          -1.467         0              0              0
 108  Toaster         -1.035         0.873          -0.396         0              90             0
 109  Microwave       -1.034         0.874          1.428          0              90             0
 110  Faucet          3.305          0.886          0.094          270            180            0
 111  NorthWall
 112  EastWall
 113  SouthWall
 114  WestWall

Plan:
STEP 1: Walk forward to the stove top, then turn left and walk forward across the room to the lettuce on the counter. | STEP 2: Pick up the lettuce from the counter. | STEP 3: Turn left and walk to the sink. | STEP 4: Put the lettuce in the sink, rinse it off, and take it back out. | STEP 5: Turn right and walk slightly forward, then turn left towards the counter. | STEP 6: Put the lettuce on the counter, in front of the large knife. | END