Task: Place a rinsed head of lettuce in a trash bin.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.75          0.900          -0.5           0              0              0
   1  Ladle           0.294          0.975          0.762          0              0              0              81
   2  DishSponge      1.466          0.913          -1.095         0              0              0              64
   3  ButterKnife     -0.230         0.913          -1.737         0              0              0              64
   4  Spoon           0.294          0.928          0.534          0              0              0              81
   5  Spoon           0.522          0.931          0.305          0              0              0              81
   6  Fork            -0.047         0.927          1.220          0              0              0              81
   7  Fork            -0.047         0.927          0.991          0              0              0              81
   8  Cup             1.647          0.913          -1.797         0              0              0              64
   9  Cup             -0.047         0.930          0.762          0              0              0              81
  10  Knife           1.919          0.936          -1.446         0              0              0              64
  11  Knife           -0.047         0.950          0.534          0              0              0              81
  12  Tomato          0.294          0.978          0.305          0              0              0              81
  13  Tomato          -1.610         1.235          -1.013         0              90             0              72
  14  SoapBottle      1.669          0.879          2.429          0              0              0              90
  15  Lettuce         0.408          1.011          0.076          0              0              0              81
  16  SaltShaker      1.256          0.115          -1.806         0              0              0              56
  17  PepperShaker    0.563          1.655          -2.087         0              0              0              53
  18  Bread           -1.495         1.228          -0.495         0              90             0              72
  19  Mug             -1.316         1.654          -1.604         0              90             0              47
  20  Mug             0.384          1.653          -2.200         0              0              0              53
  21  Apple           -1.284         1.086          -1.846         0              90             0              70
  22  Apple           -1.380         1.254          -0.910         0              90             0              72
  23  Potato          -1.553         0.888          -0.392         0              90             0              72
  24  Bowl            -0.160         0.927          0.076          0              0              0              81
  25  SoapBottle      -0.668         0.912          -2.233         0              0              0              64
  26  Fork            0.066          0.931          1.448          0              0              0              81
  27  Ladle           1.572          0.164          -1.332         0              270            0              58
  28  Bread           0.066          0.975          0.534          0              0              0              81
  29  Lettuce         -1.572         1.585          -0.806         0              90             0              72
  30  WineBottle      0.294          0.931          1.220          0              0              0              81
  31  Spatula         1.828          0.928          -1.680         0              0              0              64
  32  Plate           -1.438         0.862          -0.702         0              90             0              72
  33  SaltShaker      -0.160         0.923          0.762          0              0              0              81
  34  Pot             1.567          0.948          -0.757         0              0              0              46
  35  Cup             1.359          0.553          2.534          0              0              0              91
  36  PepperShaker    1.669          0.877          2.537          0              0              0              90
  37  Pan             1.824          0.945          -0.346         0              0              0              45
  38  ButterKnife     0.180          0.926          0.991          0              0              0              81
  39  Tomato          1.850          0.965          -1.918         0              0              0              64
  40  DishSponge      1.566          0.552          2.586          0              0              0              91
  41  Egg             -0.772         0.967          -2.134         0              0              0              64
  42  Spoon           1.647          0.914          -1.446         0              180            0              64
  43  Knife           -0.346         0.936          -1.689         0              0              0              64
  44  Mug             -1.186         1.010          -1.638         0              0              0              70
  45  StoveBurner     1.845          0.940          -0.355         0              0              0
  46  StoveBurner     1.567          0.940          -0.757         0              0              0
  47  Cabinet         -1.149         2.019          -1.979         0              90             0
  48  Cabinet         -1.149         2.265          -0.834         0              90             0
  49  Cabinet         -0.459         2.265          -2.0           0              0              0
  50  Cabinet         -1.100         2.019          -2.0           0              0              0
  51  Cabinet         1.719          2.019          -2.0           0              0              0
  52  Cabinet         1.179          2.019          -2.0           0              0              0
  53  Cabinet         0.199          2.019          -2.0           0              0              0
  54  Cabinet         1.75           2.019          -1.399         0              270            0
  55  Cabinet         1.75           2.019          -1.029         0              270            0
  56  Cabinet         1.379          0.469          -1.689         0              0              0
  57  Cabinet         -0.819         0.469          -1.689         0              0              0
  58  Cabinet         1.389          0.469          -1.059         0              270            0
  59  Cabinet         -0.839         0.469          -1.665         0              90             0
  60  StoveBurner     1.567          0.940          -0.355         0              0              0
  61  StoveBurner     1.845          0.940          -0.757         0              0              0
  62  Sink            -0.109         0.893          -2.009         0              0              0
  63  Drawer          -0.819         0.75           -1.690         0              0              0
  64  CounterTop      0.232          0.949          -2.002         0              0              0
  65  GarbageCan      1.855          -0.034         0.141          0              358.959        0
  66  Vase            0.251          0.546          0.475          0              270            0
  67  Toaster         0.780          0.900          -2.080         0              0              0
  68  LightSwitch     0.108          1.315          2.75           0              180            0
  69  Vase            0.400          0.925          0.218          0              180            0
  70  Microwave       -1.233         0.900          -1.680         0              90             0
  71  Vase            1.465          1.662          -2.200         0              0              0
  72  Fridge          -1.495         0.0            -0.703         0              0              0
  73  Window          2.114          1.495          1.072          90             270            0
  74  CoffeeMachine   1.374          0.899          -2.112         0              0              0
  75  Vase            0.333          0.546          1.272          0              270            0
  76  SinkBasin       -0.148         0.753          -2.026         0              0              0
  77  StoveKnob       2.037          1.089          -0.405         0              0              74.477
  78  StoveKnob       2.037          1.089          -0.251         0              0              74.477
  79  StoveKnob       2.037          1.089          -0.649         0              0              74.477
  80  StoveKnob       2.037          1.089          -0.814         0              0              74.477
  81  DiningTable     0.170          0.005          0.678          0              270            0
  82  Shelf           0.170          0.155          0.678          0              270            0
  83  Shelf           1.605          0.172          2.480          0              0              0
  84  Shelf           1.605          0.552          2.480          0              0              0
  85  Shelf           1.604          0.880          2.479          0              0              0
  86  ShelvingUnit    1.605          0.006          2.480          0              0              0
  87  Faucet          -0.143         1.028          -2.223         0              270            0
  88  Stool           -0.553         0.000          0.871          1.233          280.376        0
  89  Shelf           0.170          0.528          0.678          0              270            0
  90
  91
  92  NorthWall
  93  EastWall
  94  SouthWall
  95  WestWall

Plan:
STEP 1: Turn right and then left, facing the short side of the table. | STEP 2: Pick up the head of lettuce on the table. | STEP 3: Turn around and walk to the sink. | STEP 4: Rinse the lettuce in the sink. | STEP 5: Turn left and walk around the counter, to the end where the trash bin is. | STEP 6: Place the lettuce in the trash bin. | END