Task: rinse off lettuce and put it down 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           0.0            0.900          -1.5           0              0              0
   1  Pan             1.836          1.027          -1.84          0              90             0              48
   2  DishSponge      2.395          0.764          4.362          0              329.999        0              51
   3  WineBottle      2.801          0.765          4.044          0              270            0              51
   4  WineBottle      1.350          0.036          -1.592         0              0              0              50
   5  Glassbottle     -0.794         1.028          0.416          0              0              0              53
   6  Spatula         -0.794         1.042          2.311          0              180            0              53
   7  Spatula         -0.782         0.831          1.337          0              180            0              107
   8  Spoon           2.595          0.802          -0.359         0              90             0              50
   9  Cup             2.607          0.763          3.848          0              329.999        0              51
  10  Plate           -0.968         1.442          -0.184         0              90             0              94
  11  Plate           2.302          0.764          3.97           0              0              0              51
  12  Tomato          -0.858         0.388          -0.738         0              90             0              94
  13  Bowl            2.875          1.025          -1.456         0              0              0              50
  14  Bowl            1.956          0.762          3.685          0              225            0              51
  15  SaltShaker      1.350          0.031          -1.683         0              0              0              69
  16  PepperShaker    2.607          1.777          -1.872         0              0              0              89
  17  PepperShaker    2.601          0.797          0.855          0              317.0          0              62
  18  Lettuce         2.525          0.822          4.32           0              0              0              51
  19  Mug             2.138          0.759          3.762          0              225            0              51
  20  Apple           -0.645         0.866          1.414          0              90             0              107
  21  Apple           -0.851         0.866          1.414          0              90             0              107
  22  Pan             1.761          1.027          -1.599         0              0              0              93
  23  Glassbottle     2.959          1.027          -0.236         0              0              0              50
  24  Knife           2.451          0.789          3.97           0              59.999         0              51
  25  SoapBottle      -0.669         1.026          2.556          0              0              0              53
  26  Egg             2.228          0.808          4.495          0              0              0              51
  27  Fork            2.649          0.801          -0.746         0              0              0              59
  28  Potato          -1.028         0.828          -0.516         0              90             0              94
  29  Ladle           2.762          0.841          -1.132         0              0              0              58
  30  Tomato          -0.544         1.081          2.189          0              0              0              53
  31  Pot             2.116          1.027          -1.84          0              270            0              54
  32  WineBottle      2.404          1.027          1.303          0              136.999        0              50
  33  Plate           -0.968         1.442          -0.516         0              90             0              94
  34  Spatula         -0.920         1.042          1.943          0              270            0              53
  35  PaperTowelRoll  2.228          0.868          3.795          0              90             0              51
  36  Lettuce         2.633          0.822          4.047          0              225            0              51
  37  Apple           2.160          1.077          1.354          0              136.999        0              50
  38  SaltShaker      3.043          1.023          -1.151         0              0              0              50
  39  PepperShaker    1.450          0.031          -1.501         0              0              0              69
  40  ButterKnife     -0.544         1.027          0.785          0              0              0              53
  41  Bread           2.959          1.094          -0.846         0              0              0              50
  42  Cup             1.895          1.859          -1.775         0              0              0              96
  43  DishSponge      2.801          0.764          3.821          0              270            0              51
  44  Bowl            2.451          0.762          3.445          0              0              0              51
  45  Spoon           2.788          0.765          4.412          0              225            0              51
  46  Mug             -0.803         1.070          0.646          0              90             0              103
  47  Sink            -0.716         1.023          1.333          0              0              0
  48  StoveBurner     1.835          1.018          -1.840         0              90             0
  49  StoveBurner     2.177          1.018          -1.599         0              0              0
  50  CounterTop      2.812          0.992          0.675          0              0              0
  51  DiningTable     2.419          0.003          3.930          0              0              0
  52  Drawer          -0.643         0.828          0.616          0              0              0
  53  CounterTop      -0.813         1.062          2.188          0              0              0
  54  StoveBurner     2.115          1.018          -1.840         0              270            0
  55  Drawer          -0.643         0.831          1.953          0              0              0
  56  Drawer          -0.643         0.833          2.418          0              0              0
  57  Drawer          1.347          0.836          -1.539         0              0              0
  58  Drawer          2.693          0.833          -1.131         0              0              0
  59  Drawer          2.693          0.833          -0.699         0              0              0
  60  Drawer          2.693          0.833          -0.267         0              0              0
  61  Drawer          2.693          0.833          0.163          0              0              0
  62  Drawer          2.524          0.833          0.720          0              2.000          0
  63  Drawer          2.232          0.833          1.036          0              2.000          0
  64  Drawer          1.936          0.833          1.354          0              2.000          0
  65  Drawer          1.646          0.833          1.670          0              2.000          0
  66  Cabinet         1.504          2.475          -1.710         0              0              0
  67  Cabinet         -0.823         2.220          1.621          0              0              0
  68  Cabinet         -0.823         2.220          0.615          0              0              0
  69  Cabinet         1.136          0.388          -1.355         0              0              0
  70  Cabinet         -0.356         0.383          2.626          0              0              0
  71  Cabinet         2.745          2.220          -1.690         0              0              0
  72  Cabinet         1.882          0.383          1.017          0              0              0
  73  Cabinet         1.307          0.473          1.640          0              0              0
  74  Cabinet         1.892          0.383          1.006          0              0              0
  75  Cabinet         2.467          0.383          0.383          0              0              0
  76  Cabinet         2.466          0.383          -0.475         0              0              0
  77  Cabinet         2.466          0.473          0.371          0              0              0
  78  Cabinet         2.386          2.475          -1.710         0              0              0
  79  Cabinet         -0.356         0.383          1.712          0              0              0
  80  Cabinet         2.745          2.220          0.019          0              0              0
  81  Cabinet         -0.663         2.496          0.157          0              0              0
  82  Cabinet         -0.663         2.496          -0.868         0              0              0
  83  Cabinet         -0.356         0.383          0.269          0              0              0
  84  Cabinet         -0.823         2.220          1.603          0              0              0
  85  Cabinet         -0.662         2.234          0.586          0              0              0
  86  Cabinet         2.745          2.220          -0.843         0              0              0
  87  Cabinet         2.745          2.220          -0.827         0              0              0
  88  Cabinet         -0.823         2.220          2.608          0              0              0
  89  Cabinet         2.732          2.226          -1.709         0              0              0
  90  Cabinet         1.137          2.226          -1.709         0              0              0
  91  Cabinet         2.466          0.383          -0.491         0              0              0
  92  Cabinet         2.466          0.383          -1.339         0              0              0
  93  StoveBurner     1.761          1.018          -1.599         0              0              0
  94  Fridge          -0.908         0.0            -0.405         0              0              0
  95  HousePlant      2.517          1.016          1.822          0              0              0
  96  Microwave       1.939          1.745          -1.826         0              0              0
  97  StoveKnob       2.017          1.041          -1.514         0              180            180
  98  StoveKnob       1.934          1.041          -1.514         0              180            180
  99  StoveKnob       2.017          1.041          -1.589         0              180            180
 100  StoveKnob       1.934          1.041          -1.589         0              180            180
 101  Window          1.756          1.608          4.762          90             0              0
 102  HousePlant      2.171          1.004          2.091          0              0              0
 103  CoffeeMachine   -0.942         1.018          0.645          0              90             0
 104  LightSwitch     -0.099         1.410          -2.066         0              0              0
 105  GarbageCan      -0.951         -0.029         2.826          0              0              0
 106  Toaster         -1.007         1.018          2.238          0              90             0
 107  SinkBasin       -0.714         0.805          1.348          0              90             0
 108  Chair           1.615          0.004          4.310          0              107.976        0
 109  Faucet          -1.120         1.013          1.334          0              90             0
 110  Chair           2.759          0.004          3.086          0              358.967        0
 111
 112  NorthWall
 113  EastWall
 114  SouthWall
 115  WestWall

Plan:
STEP 1: walk straight towards the wall and then turn right and walk straight towards the wall then turn left towards the table | STEP 2: pick up the lettuce on the table | STEP 3: turn left and walk straight then turn left and walk straight then turn right and walk towards the sink | STEP 4: put the lettuce into the sink and fill it with water then drain the sink and remove the lettuce | STEP 5: turn right then walk straight then turn left towards the counter | STEP 6: put the lettuce down on the counter | END