Task: Put a clean head of lettuce on the black shelving unit.

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           0.869          -0.25          0              270            0
   1  Pan             -2.097         0.930          1.049          0              0              0              40
   2  Potato          -1.620         0.733          -3.529         0              0              0              60
   3  ButterKnife     -0.855         0.891          1.187          0              270            0              59
   4  Spatula         0.149          0.915          1.101          0              270            0              59
   5  Spatula         -0.051         0.915          1.187          0              270            0              59
   6  Pot             0.746          0.664          -2.035         0              180            0              53
   7  Cup             -1.970         0.700          -1.416         0              0              0              69
   8  SoapBottle      -1.261         0.051          -3.537         0              270            0              48
   9  Bowl            -0.051         0.899          0.843          0              270            0              59
  10  SaltShaker      -0.453         0.896          1.272          0              270            0              59
  11  Pot             -1.555         0.930          1.049          0              0              0              42
  12  Plate           0.787          0.019          -0.053         0              0              0              43
  13  Fork            -1.556         0.700          -3.445         0              90             0              60
  14  SoapBottle      -0.654         0.899          0.758          0              270            0              59
  15  Apple           -1.334         0.105          -3.647         0              270            0              48
  16  Pan             0.746          1.373          -1.880         0              0              0              53
  17  Egg             0.635          0.213          -1.725         0              270            0              Floor|+01.10|
  18  Spatula         0.817          0.775          -0.188         0              0              0              32
  19  Potato          -2.054         0.832          -3.771         0              0              0              55
  20  Cup             -0.252         0.899          1.015          0              270            0              59
  21  SaltShaker      0.767          1.460          0.039          0              0              0              44
  22  PepperShaker    0.803          0.879          -0.176         0              0              0              33
  23  ButterKnife     0.877          0.883          -0.245         0              0              0              33
  24  DishSponge      0.729          0.883          -0.039         0              0              0              33
  25  Bread           -0.873         0.931          0.976          0              24.081         0              59
  26  Lettuce         -1.084         0.973          0.955          41.444         1.754          3.069          59
  27  Tomato          0.708          1.207          -1.725         0              270            0              53
  28  Spoon           -0.252         0.901          1.187          0              270            0              59
  29  Knife           -1.970         0.724          -1.199         0              180            0              69
  30  Mug             0.785          1.153          -2.035         0              270            0              53
  31  Bowl            -2.038         0.691          -1.003         0              0              0              69
  32  Drawer          0.706          0.766          -0.125         0              0              0
  33  CounterTop      0.792          0.919          -0.108         0              0              0
  34  Mirror          1.093          1.602          -0.643         0              0              0
  35  StoveBurner     -2.096         0.890          0.785          0              0              0
  36  Cabinet         0.507          0.345          -0.426         0              0              0
  37  StoveBurner     -1.552         0.890          0.785          0              0              0
  38  SideTable       0.770          -0.030         0.443          0              0              0
  39  Sink            0.753          0.882          -0.680         0              0              0
  40  StoveBurner     -2.096         0.890          1.049          0              0              0
  41  GarbageBag      -0.770         0.287          -3.541         270            73.521         83.489
  42  StoveBurner     -1.554         0.890          1.049          0              0              0
  43  Cabinet         0.507          0.345          0.156          0              0              0
  44  Cabinet         0.717          1.822          -0.398         0              0              0
  45  Cabinet         0.717          1.822          0.669          0              0              0
  46  CoffeeMachine   0.873          0.865          -1.256         0              270            0
  47  Toaster         -0.522         0.886          1.081          0              180            0
  48  GarbageCan      -1.261         -0.031         -3.610         0              270            0
  49  StoveKnob       -1.898         0.866          0.519          311.864        0              180
  50  StoveKnob       -1.754         0.866          0.519          311.864        0              180
  51  StoveKnob       -2.058         0.866          0.519          311.864        0              180
  52  StoveKnob       -1.600         0.866          0.519          311.864        0              180
  53  Fridge          0.680          -0.031         -1.957         0              0              0
  54  Window          -2.424         1.639          -2.453         90             270            0
  55  Microwave       -1.994         0.690          -3.651         0              0              0
  56  SinkBasin       0.757          0.762          -0.688         0              270            0
  57  LightSwitch     1.102          1.368          -3.737         0              270            0
  58  Shelf           -0.350         0.124          0.857          0              0              0
  59  DiningTable     -0.350         -0.025         0.857          0              0              0
  60  DiningTable     -1.909         -0.032         -3.507         0              0              0
  61  Blinds          -2.343         2.151          -2.437         0              270            0
  62  AluminumFoil    0.762          0.224          0.337          0              184.594        0
  63  AluminumFoil    0.751          0.225          0.287          0              0              0
  64  AluminumFoil    0.839          0.224          0.392          0              195.128        0
  65  Shelf           0.771          0.226          0.445          0              0              0
  66  Shelf           0.771          0.456          0.446          0              0              0
  67  Faucet          1.025          0.873          -0.678         270            180            0
  68  Shelf           -0.350         0.497          0.857          0              0              0
  69  DiningTable     -1.929         -0.035         -1.398         0              90             0
  70  Chair           -1.610         -0.024         -1.424         358.454        297.426        0
  71  NorthWall
  72  EastWall
  73  SouthWall
  74  WestWall

Plan:
STEP 1: Turn around and walk towards the sink, then hang a left and walk up to the white table. | STEP 2: Pick up the head of lettuce off of the table. | STEP 3: Turn around and walk towards the wall, then hang a left and walk up to the sink. | STEP 4: Put the head of lettuce in the sink basin and turn on the water, after a couple seconds turn the water off and remove the now clean head of lettuce. | STEP 5: Turn around and walk towards the wall, then hang a right and walk up to the black shelving unit in between the trash bag and counter. | STEP 6: Put the clean head of lettuce on top of the black shelving unit. | END