Task: rinse the lettuce then 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           -2.0           0.899          6.25           0              180            0
   1  DishSponge      -1.610         0.923          1.573          0              0              0              52
   2  ButterKnife     -0.258         0.925          5.932          0              0              0              55
   3  Pot             -2.469         0.930          1.712          0              270            0              85
   4  Fork            -1.943         0.924          1.648          0              0              0              52
   5  Cup             -0.565         0.923          4.944          0              0              0              55
   6  Plate           -0.295         1.071          3.850          0              270            0              103
   7  Plate           -3.494         0.924          5.259          0              90             0              70
   8  Knife           -4.102         0.953          2.300          0              0              0              70
   9  SoapBottle      -1.943         0.923          1.951          0              0              0              52
  10  SoapBottle      -0.565         0.924          5.603          0              0              0              55
  11  Tomato          -0.383         1.637          3.349          0              270            0              103
  12  Tomato          -0.383         1.742          3.975          0              270            0              103
  13  Bowl            -4.411         0.920          5.159          0              90             0              70
  14  Bowl            -4.159         0.787          3.410          0              270            0              102
  15  PepperShaker    -4.312         0.919          2.300          0              0              0              70
  16  Lettuce         -0.301         1.431          3.726          0              270            0              103
  17  Lettuce         -0.181         1.020          4.615          0              0              0              55
  18  Lettuce         -0.348         1.165          3.603          0              270            0              103
  19  Apple           -2.688         1.599          1.698          0              0              0              100
  20  Egg             -0.301         1.371          3.602          0              270            0              103
  21  Apple           -0.259         1.634          3.289          0              270            0              103
  22  Knife           -1.693         0.953          1.724          0              0              0              52
  23  Potato          -0.259         1.719          3.794          0              270            0              103
  24  Fork            -0.411         0.925          4.944          0              0              0              55
  25  Bowl            -0.181         0.922          5.273          0              0              0              55
  26  Plate           -4.26          0.924          4.381          0              90             0              70
  27  Lettuce         -3.675         0.164          6.416          0              0              0              96
  28  Bread           -4.234         0.990          3.985          0              0              0              70
  29  Tomato          -0.411         0.982          5.273          0              0              0              55
  30  WineBottle      -3.419         0.083          1.889          0              0              0              45
  31  Spatula         -1.777         0.938          1.875          0              90             0              52
  32  PaperTowelRoll  -1.610         1.027          1.875          0              0              0              52
  33  Cup             -3.733         0.922          5.566          0              90             0              70
  34  Pencil          -0.334         0.925          4.615          0              0              0              55
  35  Pan             -2.454         0.933          2.023          0              240.000        0              58
  36  Pot             -2.924         0.930          1.712          0              180            0              67
  37  SaltShaker      -3.124         0.743          5.133          0              180            0              82
  38  SoapBottle      -1.981         1.452          1.573          0              0              0              89
  39  PepperShaker    -3.830         0.743          5.192          0              180            0              73
  40  ButterKnife     -0.258         0.925          4.944          0              0              0              55
  41  DishSponge      -4.242         0.923          2.649          0              0              0              70
  42  Spoon           -0.334         0.926          5.273          0              180            0              55
  43  Mug             -4.411         0.918          3.863          0              90             0              70
  44  Cabinet         -3.203         1.931          1.777          0              0              0
  45  Cabinet         -3.187         0.390          2.089          0              0              0
  46  Cabinet         -0.637         0.387          6.882          0              180            0
  47  Drawer          -3.797         0.781          1.961          0              0              0
  48  Cabinet         -3.036         0.387          5.029          0              90             0
  49  Drawer          -0.509         0.775          5.268          0              270            0
  50  Drawer          -4.125         0.798          2.499          0              0              0
  51  Cabinet         -0.331         2.249          4.308          0              180            0
  52  CounterTop      -1.872         0.958          1.799          0              0              0
  53  StoveBurner     -2.924         0.924          2.012          0              0              0
  54  Cabinet         -0.331         2.249          6.806          0              180            0
  55  CounterTop      -0.345         0.960          5.603          0              0              0
  56  Cabinet         -3.039         1.935          5.321          0              90             0
  57  Cabinet         -3.922         0.397          2.088          0              0              0
  58  StoveBurner     -2.467         0.924          2.012          0              0              0
  59  Cabinet         -0.331         2.249          5.505          0              180            0
  60  Drawer          -0.509         0.775          4.617          0              270            0
  61  Drawer          -3.509         0.777          5.157          0              180            0
  62  Cabinet         -3.961         0.388          2.878          0              0              0
  63  Cabinet         -3.961         0.388          4.342          0              0              0
  64  Cabinet         -0.637         0.387          5.582          0              180            0
  65  Cabinet         -0.637         0.388          4.299          0              180            0
  66  Cabinet         -0.637         0.388          5.599          0              180            0
  67  StoveBurner     -2.924         0.924          1.712          0              180            0
  68  Drawer          -1.859         0.775          1.961          0              0              0
  69  Cabinet         -0.331         2.249          5.609          0              180            0
  70  CounterTop      -4.260         0.958          4.943          0              90             0
  71  Cabinet         -4.284         1.931          2.226          0              0              0
  72  Cabinet         -0.331         2.249          3.010          0              180            0
  73  Drawer          -3.801         0.777          5.157          0              180            0
  74  Cabinet         -4.112         1.935          5.321          0              90             0
  75  Cabinet         -3.968         0.388          3.662          0              0              0
  76  Drawer          -3.418         0.777          1.961          0              0              0
  77  Drawer          -4.090         0.777          4.661          0              90             0
  78  Faucet          -4.441         0.909          3.288          270            0              0
  79  Cabinet         -0.331         2.249          4.207          0              180            0
  80  Cabinet         -3.961         0.388          2.119          0              0              0
  81  Drawer          -0.509         0.775          5.920          0              270            0
  82  Drawer          -3.193         0.777          5.157          0              180            0
  83  Cabinet         -3.968         0.388          2.894          0              0              0
  84  Cabinet         -3.667         0.387          5.029          0              90             0
  85  StoveBurner     -2.469         0.924          1.712          0              270            0
  86  Cabinet         -1.539         0.388          2.090          0              0              0
  87  Sink            -4.190         0.921          3.279          0              0              0
  88  Cabinet         -3.641         0.387          5.029          0              90             0
  89  Cabinet         -1.583         1.931          1.777          0              0              0
  90  Drawer          -0.509         0.775          6.568          0              270            0
  91  CoffeeMachine   -0.279         0.912          6.556          0              270            0
  92  StoveKnob       -2.347         1.095          1.560          288.012        180            180
  93  StoveKnob       -2.788         1.095          1.560          288.012        180            180
  94  StoveKnob       -2.965         1.095          1.560          288.012        180            180
  95  StoveKnob       -2.512         1.095          1.560          288.012        180            180
  96  GarbageCan      -3.711         -0.030         6.376          0              270            0
  97  Toaster         -3.578         0.912          1.763          0              0              0
  98  Curtains        -4.522         2.252          3.391          90             90             0
  99  Window          -4.868         1.629          3.309          90             270            0
 100  Microwave       -2.693         1.430          1.689          0              0              0
 101  LightSwitch     -1.588         1.169          1.506          0              0              0
 102  SinkBasin       -4.196         0.780          3.276          0              270            0
 103  Fridge          -0.324         -0.001         3.602          0              0              0
 104  NorthWall
 105  EastWall
 106  SouthWall
 107  WestWall

Plan:
STEP 1: go to the counter to the left of the fridge | STEP 2: pick up the lettuce from the counter top | STEP 3: take the lettuce to the sink | STEP 4: rinse the lettuce in the sink then remove | STEP 5: take the lettuce to the counter near the bread | STEP 6: put the lettuce on the counter | END