Task: Place a washed head of lettuce on the 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           -1.75          0.900          6.5            0              90             0
   1  Pan             1.559          0.988          4.294          0              0              0              53
   2  DishSponge      0.604          0.143          0.655          0              0              0              61
   3  DishSponge      2.104          0.080          6.469          0              0              0              79
   4  Spoon           1.135          0.993          4.762          0              90             0              56
   5  Spoon           0.871          0.773          0.451          0              0              0              47
   6  Spatula         0.305          0.775          6.291          0              0              0              91
   7  Spatula         -0.034         0.775          6.478          0              90             0              91
   8  Fork            1.126          0.771          4.753          0              270            0              45
   9  Egg             1.966          1.565          5.501          0              270            0              77
  10  Plate           0.815          0.144          0.339          0              0              0              61
  11  Plate           1.490          0.141          1.864          0              0              0              44
  12  Knife           -0.621         0.789          6.541          0              270            0              91
  13  Knife           0.600          0.802          0.563          0              270            0              47
  14  SoapBottle      1.490          0.140          2.794          0              0              0              67
  15  SoapBottle      1.403          0.992          3.324          0              0              0              55
  16  Bowl            -0.074         1.578          0.251          0              0              0              68
  17  Lettuce         0.167          0.848          6.151          0              135            0              91
  18  Mug             1.573          0.135          3.143          0              0              0              66
  19  Apple           -0.159         0.834          6.941          0              0              0              91
  20  Bowl            2.051          1.514          6.001          0              270            0              77
  21  Bread           1.099          1.048          0.434          0              0              0              55
  22  Egg             -0.312         0.810          6.666          0              270            0              91
  23  Knife           1.403          1.022          0.440          0              0              0              55
  24  Fork            -0.332         0.760          6.217          0              225            0              91
  25  Apple           1.135          1.067          4.624          0              0              0              56
  26  Kettle          1.593          0.981          3.25           0              255.000        0              55
  27  Plate           1.499          1.576          4.633          0              0              0              59
  28  SaltShaker      0.604          0.138          0.497          0              0              0              61
  29  Lettuce         -0.459         1.081          0.486          0              0              0              55
  30  SoapBottle      -0.413         0.144          0.658          0              90             0              63
  31  Spatula         1.124          0.786          3.154          0              90             0              48
  32  PaperTowelRoll  0.148          0.864          6.609          0              225            0              91
  33  Pot             0.734          0.981          0.38           0              0              0              55
  34  Potato          2.137          1.550          5.501          0              270            0              77
  35  ButterKnife     1.332          0.896          2.137          0              270            0              78
  36  PepperShaker    0.150          0.755          6.479          0              270            0              91
  37  Pan             1.562          0.988          3.848          0              0              0              49
  38  Tomato          1.442          0.940          2.576          0              90             0              78
  39  DishSponge      -0.530         0.759          6.196          0              225            0              91
  40  Cup             2.051          1.511          5.626          0              270            0              77
  41  Spoon           0.056          0.773          0.618          0              0              0              52
  42  Mug             0.125          0.755          6.851          0              225            0              91
  43  Cabinet         1.307          2.455          4.360          0              0              0
  44  Cabinet         1.054          0.422          1.710          0              0              0
  45  Drawer          1.280          0.808          4.718          0              0              0
  46  Cabinet         1.307          2.455          3.607          0              0              0
  47  Drawer          0.736          0.802          0.521          0              0              0
  48  Drawer          1.276          0.802          3.291          0              0              0
  49  StoveBurner     1.562          0.982          3.848          0              0              0
  50  StoveBurner     1.317          0.982          4.294          0              0              0
  51  Drawer          -0.482         0.802          0.521          0              0              0
  52  Drawer          0.124          0.802          0.521          0              0              0
  53  StoveBurner     1.559          0.982          4.294          0              0              0
  54  StoveBurner     1.320          0.982          3.848          0              0              0
  55  CounterTop      1.391          1.028          0.897          0              0              0
  56  CounterTop      1.391          1.028          4.716          0              0              0
  57  Cabinet         1.054          0.422          4.548          0              0              0
  58  Cabinet         1.317          2.134          0.517          0              0              0
  59  Cabinet         1.317          2.134          4.889          0              0              0
  60  Cabinet         1.317          2.134          3.095          0              0              0
  61  Cabinet         0.443          0.422          0.743          0              0              0
  62  Cabinet         1.270          2.134          0.434          0              0              0
  63  Cabinet         -0.775         0.422          0.743          0              0              0
  64  Cabinet         -0.168         0.422          0.743          0              0              0
  65  Cabinet         1.317          2.134          1.534          0              0              0
  66  Cabinet         1.054          0.422          2.990          0              0              0
  67  Cabinet         1.054          0.422          2.944          0              0              0
  68  Cabinet         -0.263         2.134          0.434          0              0              0
  69  Cabinet         0.252          2.134          0.434          0              0              0
  70  Sink            1.391          1.006          2.326          0              0              0
  71  Microwave       0.108          0.981          0.262          0              0              0
  72  HousePlant      -0.165         0.826          6.444          0              0              0
  73  CoffeeMachine   1.551          0.982          0.953          0              270            0
  74  Toaster         1.473          0.981          4.715          0              270            0
  75  Window          -2.065         1.916          3.626          90             90             0
  76  Window          1.763          2.007          2.299          90             270            0
  77  Fridge          2.035          0.0            5.625          0              0              0
  78  SinkBasin       1.387          0.880          2.338          0              90             0
  79  GarbageCan      2.001          -0.044         6.503          0              0              0
  80  StoveKnob       1.140          0.934          3.987          45             270            0
  81  StoveKnob       1.140          0.934          4.309          45             270            0
  82  StoveKnob       1.140          0.934          4.140          45             270            0
  83  StoveKnob       1.140          0.934          3.824          45             270            0
  84  Vase            -0.226         0.834          6.993          0              0              0
  85  Vase            2.098          0.043          7.070          0              257.232        0
  86  Vase            -0.594         0.835          6.130          0              225            0
  87  LightSwitch     -2.0           1.549          6.045          0              90             0
  88  Safe            2.046          1.072          7.054          0              257.232        0
  89  Faucet          1.534          1.025          2.371          0              294.391        0
  90  Blinds          1.738          2.563          2.312          0              90             0
  91  DiningTable     -0.156         0.000          6.474          0              0              0
  92  Chair           0.291          0.002          6.142          0              310.162        0
  93  GarbageBag      -1.092         0.318          0.268          270            90             83.492
  94  NorthWall
  95  EastWall
  96  SouthWall
  97  WestWall

Plan:
STEP 1: go to the table and turn to the right and take a few steps and turn to the left and take a few steps and turn to the right and go to the counter | STEP 2: pick up the head of lettuce from the counter | STEP 3: turn to the left twice and take a few steps and turn to the right and go to the sink | STEP 4: put the head of lettuce in the sink and turn on the water to fill the sink and turn off and drain the water from the sink and pick up the head of lettuce from the sink | STEP 5: turn to the right and go to the counter and turn to the left facing the counter | STEP 6: put the head of lettuce left front of the coffee machine on the counter top | END