Task: Put clean lettuce in the trash.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.5            0.908          2.25           0              270            0
   1  CellPhone       1.155          0.773          -0.049         0              0              0              66
   2  CellPhone       1.049          0.909          0.706          0              0              0              65
   3  Glassbottle     1.061          2.156          -0.851         0              0              0              49
   4  WineBottle      -1.383         0.749          2.087          0              0              0              46
   5  Spoon           1.365          0.912          0.139          0              0              0              65
   6  Fork            -1.105         0.750          2.087          0              90             0              46
   7  Spatula         1.200          0.901          2.153          0              0              0              97
   8  Spatula         1.117          0.901          2.692          0              0              0              97
   9  Pot             0.502          0.939          -0.740         0              90             0              72
  10  Pot             0.802          0.939          -0.740         0              90             0              74
  11  Cup             -1.012         0.748          2.273          0              0              0              46
  12  Knife           1.207          0.933          0.422          0              90             0              65
  13  Knife           -1.012         0.770          2.459          0              0              0              46
  14  Tomato          -1.263         1.686          0.984          0              90             0              85
  15  SoapBottle      1.207          0.912          0.706          0              0              0              65
  16  SoapBottle      -0.694         1.657          -0.847         0              0              0              50
  17  Bowl            -0.170         0.115          -0.490         0              0              0              61
  18  Bread           1.207          0.974          0.139          0              0              0              65
  19  Lettuce         -1.105         0.819          1.902          0              0              0              46
  20  Bread           -1.206         0.814          0.883          0              90             0              85
  21  Glassbottle     1.327          1.661          0.253          0              0              0              47
  22  Fork            1.284          0.886          2.261          0              180            0              97
  23  Kettle          -1.357         0.739          3.024          0              240.000        0              46
  24  Tomato          -1.162         0.391          0.673          0              90             0              85
  25  Plate           1.117          0.887          2.477          0              0              0              97
  26  CellPhone       0.951          0.884          2.584          0              0              0              97
  27  Lettuce         1.450          0.957          2.261          0              0              0              97
  28  Pot             -0.813         0.912          -0.589         0              0              0              71
  29  SoapBottle      -0.658         0.913          -0.907         0              90             0              71
  30  WineBottle      -1.475         0.749          2.087          0              0              0              46
  31  Spatula         -1.290         0.763          2.644          0              0              0              46
  32  Bowl            0.209          0.115          -0.533         0              0              0              60
  33  Apple           1.034          0.946          2.261          0              0              0              97
  34  Cup             -0.919         0.748          1.902          0              0              0              46
  35  Knife           -1.197         0.770          2.087          0              90             0              46
  36  Egg             -1.067         0.375          1.302          0              90             0              85
  37  SaltShaker      -1.475         0.745          1.902          0              0              0              46
  38  PepperShaker    -1.433         0.908          -0.669         0              0              0              71
  39  Potato          -0.919         0.794          3.015          0              0              0              46
  40  ButterKnife     1.365          0.911          -0.144         0              0              0              65
  41  DishSponge      1.284          0.885          2.800          0              0              0              97
  42  Pan             -1.320         1.420          1.197          0              0              0              85
  43  Spoon           -1.197         0.750          2.830          0              0              0              46
  44  SprayBottle     1.355          2.153          1.043          0              0              0              55
  45  Mug             1.523          0.906          -0.428         0              0              0              65
  46  DiningTable     -1.182         0.006          2.414          0              90             0
  47  Cabinet         1.184          2.059          0.375          0              0              0
  48  Cabinet         1.184          2.059          -0.635         0              0              0
  49  Cabinet         0.591          2.309          -0.645         0              0              0
  50  Cabinet         -0.574         2.059          -0.644         0              0              0
  51  Cabinet         -1.103         2.059          -0.644         0              0              0
  52  Cabinet         -1.185         2.059          -0.331         0              0              0
  53  Cabinet         -1.185         2.059          -0.281         0              0              0
  54  Cabinet         -1.185         2.059          0.375          0              0              0
  55  Cabinet         1.184          2.309          1.174          0              0              0
  56  Cabinet         1.184          2.309          0.424          0              0              0
  57  Cabinet         0.988          0.402          0.581          0              0              0
  58  Cabinet         0.988          0.402          0.531          0              0              0
  59  Cabinet         0.988          0.402          -0.178         0              0              0
  60  Cabinet         0.335          0.402          -0.348         0              0              0
  61  Cabinet         -0.374         0.402          -0.348         0              0              0
  62  Cabinet         0.988          0.402          1.231          0              0              0
  63  Cabinet         -1.185         2.309          1.374          0              0              0
  64  Cabinet         -1.185         2.309          0.424          0              0              0
  65  CounterTop      1.274          0.947          0.064          0              0              0
  66  Drawer          1.116          0.792          -0.015         0              0              0
  67  Drawer          -1.116         0.792          0.210          0              180            0
  68  Cabinet         -0.990         0.402          0.374          0              180            0
  69  Drawer          -1.116         0.792          -0.170         0              180            0
  70  Cabinet         -0.990         0.402          -0.335         0              180            0
  71  CounterTop      -1.001         0.947          -0.669         0              0              0
  72  StoveBurner     0.502          0.932          -0.740         0              90             0
  73  StoveBurner     0.801          0.932          -0.473         0              0              0
  74  StoveBurner     0.801          0.932          -0.740         0              90             0
  75  Drawer          1.116          0.792          1.081          0              0              0
  76  Sink            -0.013         0.912          -0.615         0              0              0
  77  Drawer          1.116          0.792          0.732          0              0              0
  78  StoveBurner     0.502          0.932          -0.469         0              0              0
  79  Drawer          1.116          0.792          0.367          0              0              0
  80  StoveKnob       0.550          1.085          -0.912         287.970        180            0
  81  StoveKnob       0.884          1.085          -0.912         287.970        180            0
  82  StoveKnob       0.432          1.085          -0.912         287.970        180            0
  83  StoveKnob       0.777          1.085          -0.912         287.970        180            0
  84  CoffeeMachine   1.304          0.900          -0.741         0              320.314        0
  85  Fridge          -1.300         0.008          0.987          0              90             0
  86  GarbageCan      1.296          -0.024         1.465          0              0              0
  87  Window          -0.012         1.641          -0.972         90             0              0
  88  Window          1.598          1.646          2.489          90             270            0
  89  Toaster         1.356          0.900          1.044          0              270            0
  90  LightSwitch     0.118          1.353          3.799          0              180            0
  91  Microwave       -1.343         0.900          0.053          0              90             0
  92  SinkBasin       -0.029         0.748          -0.612         0              0              0
  93  Faucet          -0.026         0.927          -0.808         0              0              0
  94  Shelf           -1.182         0.127          2.414          0              90             0
  95  Stool           1.140          0.007          3.262          1.206          20.753         0
  96  Shelf           -1.182         0.435          2.414          0              90             0
  97  DiningTable     1.169          0.014          2.569          0              0              1.896
  98  NorthWall
  99  EastWall
 100  SouthWall
 101  WestWall

Plan:
STEP 1: Turn left, move forward, then turn right to face the table. | STEP 2: Pick up the lettuce on the table. | STEP 3: Turn around, move forward, then turn right to go to the sink. | STEP 4: Wash the lettuce in the sink. | STEP 5: Turn around, go forward, then turn right to go to the trash can. | STEP 6: Put the lettuce in the trash can. | END