Task: Putting clean lettuce on a white table

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.75          0.869          -0.5           0              180            0
   1  Potato          -2.137         0.734          -1.091         0              0              0              74
   2  Potato          -1.949         0.832          -3.771         0              0              0              60
   3  DishSponge      0.720          0.759          -0.061         0              0              0              37
   4  Spatula         -0.051         0.915          1.272          0              270            0              64
   5  Spatula         -0.453         0.915          1.272          0              0              0              64
   6  Spoon           0.866          0.761          -0.188         0              90             0              37
   7  Fork            0.721          0.665          0.326          0              90             0              43
   8  Fork            0.661          0.665          0.630          0              180            0              43
   9  Egg             0.661          0.702          0.448          0              0              0              43
  10  Egg             0.961          0.702          0.265          0              0              0              43
  11  Tomato          -0.453         0.949          0.758          0              270            0              64
  12  PepperShaker    -1.635         0.698          -1.416         0              0              0              74
  13  Lettuce         -0.252         0.987          0.929          0              270            0              64
  14  Apple           0.601          0.718          0.569          0              0              0              43
  15  Apple           -1.224         0.105          -3.611         0              270            0              53
  16  Pot             0.746          0.664          -2.035         0              180            0              58
  17  Plate           0.149          0.904          0.929          0              270            0              64
  18  Fork            0.841          0.665          0.630          0              180            0              43
  19  SoapBottle      0.729          0.882          -0.245         0              0              0              38
  20  Apple           0.877          0.937          -0.314         0              0              0              38
  21  Pan             0.950          0.882          0.029          0              90             0              38
  22  Egg             -1.790         0.836          -3.673         0              0              0              60
  23  Spatula         -1.803         0.716          -1.524         0              90             0              74
  24  Potato          -1.635         0.734          -1.524         0              0              0              74
  25  Cup             0.601          0.663          0.326          0              0              0              43
  26  SaltShaker      -0.855         0.896          1.187          0              270            0              64
  27  PepperShaker    0.961          0.660          0.508          0              0              0              43
  28  ButterKnife     0.781          0.664          0.326          0              0              0              43
  29  DishSponge      0.812          1.463          -0.269         0              0              0              49
  30  Bread           -0.873         0.931          0.978          0              24.231         0              64
  31  Lettuce         0.785          1.461          -1.802         0              270            0              58
  32  Tomato          -2.137         0.750          -0.875         0              0              0              74
  33  Spoon           -1.970         0.702          -0.983         0              0              0              74
  34  Knife           0.817          0.782          0.002          0              270            0              37
  35  Mug             0.669          0.460          -2.113         0              270            0              58
  36  Bowl            0.903          1.462          -0.084         0              0              0              49
  37  Drawer          0.706          0.766          -0.125         0              0              0
  38  CounterTop      0.792          0.919          -0.108         0              0              0
  39  Mirror          1.093          1.602          -0.643         0              0              0
  40  StoveBurner     -2.096         0.890          0.785          0              0              0
  41  Cabinet         0.507          0.345          -0.426         0              0              0
  42  StoveBurner     -1.552         0.890          0.785          0              0              0
  43  SideTable       0.770          -0.030         0.443          0              0              0
  44  Sink            0.753          0.882          -0.680         0              0              0
  45  StoveBurner     -2.096         0.890          1.049          0              0              0
  46  GarbageBag      -0.770         0.287          -3.541         270            73.521         83.489
  47  StoveBurner     -1.554         0.890          1.049          0              0              0
  48  Cabinet         0.507          0.345          0.156          0              0              0
  49  Cabinet         0.717          1.822          -0.398         0              0              0
  50  Cabinet         0.717          1.822          0.669          0              0              0
  51  CoffeeMachine   0.873          0.865          -1.256         0              270            0
  52  Toaster         -0.522         0.886          1.081          0              180            0
  53  GarbageCan      -1.261         -0.031         -3.610         0              270            0
  54  StoveKnob       -1.898         0.866          0.519          311.864        0              180
  55  StoveKnob       -1.754         0.866          0.519          311.864        0              180
  56  StoveKnob       -2.058         0.866          0.519          311.864        0              180
  57  StoveKnob       -1.600         0.866          0.519          311.864        0              180
  58  Fridge          0.680          -0.031         -1.957         0              0              0
  59  Window          -2.424         1.639          -2.453         90             270            0
  60  Microwave       -1.994         0.690          -3.651         0              0              0
  61  SinkBasin       0.757          0.762          -0.688         0              270            0
  62  LightSwitch     1.102          1.368          -3.737         0              270            0
  63  Shelf           -0.350         0.124          0.857          0              0              0
  64  DiningTable     -0.350         -0.025         0.857          0              0              0
  65  DiningTable     -1.909         -0.032         -3.507         0              0              0
  66  Blinds          -2.343         2.151          -2.437         0              270            0
  67  AluminumFoil    0.762          0.224          0.337          0              184.594        0
  68  AluminumFoil    0.751          0.225          0.287          0              0              0
  69  AluminumFoil    0.839          0.224          0.392          0              195.128        0
  70  Shelf           0.771          0.226          0.445          0              0              0
  71  Shelf           0.771          0.456          0.446          0              0              0
  72  Faucet          1.025          0.873          -0.678         270            180            0
  73  Shelf           -0.350         0.497          0.857          0              0              0
  74  DiningTable     -1.929         -0.035         -1.398         0              90             0
  75  Chair           -1.610         -0.024         -1.424         358.454        297.426        0
  76  NorthWall
  77  EastWall
  78  SouthWall
  79  WestWall

Plan:
STEP 1: Turn around and go to the white table with the toaster | STEP 2: Grab the lettuce off of the table | STEP 3: Turn around and go to the sink | STEP 4: Wash the lettuce in the sink and then take it out | STEP 5: Turn left and go straight to the white table with the toaster | STEP 6: Put the lettuce on the table | END