Task: Throw away the head of lettuce.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           1.25           0.901          1.0            0              0              0
   1  Pan             2.140          0.935          1.106          0              0              0              58
   2  Potato          -0.041         0.977          2.478          0              0              0              56
   3  WineBottle      1.440          0.082          2.523          0              0              0              62
   4  WineBottle      2.244          1.502          1.963          0              0              0              59
   5  DishSponge      2.129          1.500          2.425          0              0              0              49
   6  Spatula         -0.425         0.805          0.713          0              90             0              83
   7  Spatula         0.629          0.810          2.584          0              90             0              80
   8  Spoon           -0.349         0.792          1.049          0              0              0              83
   9  Spoon           1.919          0.747          1.991          0              0              0              71
  10  Fork            1.815          0.746          1.991          0              90             0              71
  11  Egg             2.095          0.903          -0.278         0              270            0              77
  12  Cup             2.223          1.321          -0.460         0              270            0              77
  13  Plate           1.156          0.085          2.523          0              0              0              62
  14  Knife           -0.042         0.816          0.881          0              90             0              83
  15  Knife           1.976          0.771          0.446          0              90             0              65
  16  SoapBottle      -0.042         0.791          1.386          0              0              0              83
  17  Tomato          2.056          1.367          -0.188         0              270            0              77
  18  Bowl            2.207          0.599          -0.188         0              270            0              77
  19  Bowl            -0.272         0.787          1.217          0              0              0              83
  20  PepperShaker    2.301          0.933          0.361          0              0              0              67
  21  PepperShaker    -0.349         0.785          0.713          0              0              0              83
  22  Mug             0.033          0.785          0.545          0              0              0              83
  23  Mug             2.179          1.514          -0.550         0              270            0              77
  24  Apple           -0.119         0.840          0.377          0              0              0              83
  25  Egg             1.065          0.837          2.529          0              0              0              80
  26  Lettuce         0.060          0.999          2.688          0              90             0              56
  27  Fork            1.802          0.746          0.514          0              90             0              65
  28  SoapBottle      2.241          1.504          0.418          0              0              0              54
  29  Ladle           0.002          0.790          2.197          0              270            0              55
  30  Ladle           0.735          0.846          2.695          0              0              0              80
  31  Bread           -0.199         0.823          0.813          0              0              0              83
  32  SaltShaker      2.127          1.498          0.695          0              0              0              64
  33  Potato          2.132          0.378          -0.188         0              270            0              77
  34  Pan             2.140          0.935          1.504          0              180            0              51
  35  WineBottle      0.708          0.082          2.523          0              0              0              63
  36  Spatula         1.872          0.760          0.583          0              90             0              65
  37  Knife           -0.138         0.772          2.197          0              270            0              55
  38  Tomato          -0.196         0.837          1.386          0              0              0              83
  39  Apple           1.673          0.987          2.511          0              0              0              56
  40  ButterKnife     1.917          0.938          0.731          0              180            0              67
  41  Pot             1.854          0.937          1.497          0              0              0              60
  42  PepperShaker    1.840          0.933          0.435          0              0              0              67
  43  Cup             0.033          0.789          0.713          0              0              0              83
  44  DishSponge      -0.272         0.790          0.545          0              0              0              83
  45  Plate           1.925          0.086          2.057          0              0              0              52
  46  Spoon           -0.272         0.938          2.530          0              0              0              56
  47  Mug             1.945          1.316          -0.188         0              270            0              77
  48  Bowl            2.000          1.320          -0.460         0              270            0              77
  49  Cabinet         2.041          2.113          2.618          0              0              0
  50  Cabinet         0.126          0.388          1.774          0              0              0
  51  StoveBurner     2.140          0.929          1.504          0              180            0
  52  Cabinet         1.760          0.388          2.346          0              0              0
  53  Cabinet         1.760          0.388          0.869          0              0              0
  54  Cabinet         2.041          1.810          0.283          0              0              0
  55  Drawer          -0.024         0.774          2.061          0              0              0
  56  CounterTop      1.065          0.973          2.666          0              0              0
  57  Cabinet         1.969          2.113          2.618          0              0              0
  58  StoveBurner     2.140          0.929          1.106          0              0              0
  59  Cabinet         2.041          2.113          1.809          0              0              0
  60  StoveBurner     1.866          0.929          1.504          0              180            0
  61  Cabinet         2.041          2.113          1.766          0              0              0
  62  Cabinet         1.514          0.388          2.360          0              0              0
  63  Cabinet         0.351          0.388          2.360          0              0              0
  64  Cabinet         2.041          1.810          0.872          0              0              0
  65  Drawer          2.167          0.774          0.582          0              0              0
  66  Cabinet         2.041          2.113          0.892          0              0              0
  67  CounterTop      2.060          0.973          0.583          0              0              0
  68  Sink            0.935          0.936          2.646          0              0              0
  69  Curtains        0.964          2.061          2.989          0              0              0
  70  StoveBurner     1.863          0.929          1.106          0              0              0
  71  Drawer          1.911          0.774          2.060          0              0              0
  72  StoveKnob       2.326          1.092          1.610          288.013        90             0
  73  StoveKnob       2.326          1.092          1.460          288.013        90             0
  74  StoveKnob       2.326          1.092          1.210          288.013        90             0
  75  StoveKnob       2.326          1.092          1.050          288.013        90             0
  76  Toaster         2.126          0.926          0.572          0              270            0
  77  Fridge          2.104          0.0            -0.279         0              270            0
  78  GarbageCan      -0.309         -0.001         -0.807         0              91.471         0
  79  LightSwitch     0.354          1.518          -1.031         0              0              0
  80  SinkBasin       0.903          0.784          2.640          0              0              0
  81  Microwave       -0.310         0.926          2.077          0              90             0
  82  CoffeeMachine   2.084          0.927          2.667          0              225            0
  83  DiningTable     -0.153         -0.000         1.073          0              270            0
  84  Faucet          1.175          0.926          2.950          270            90             0
  85  Faucet          0.686          0.926          2.950          270            90             0
  86  Chair           -0.077         0.002          0.196          0              15.000         0
  87  NorthWall
  88  EastWall
  89  SouthWall
  90  WestWall

Plan:
STEP 1: Turn left and walk to the table, then turn right and walk to the sink. | STEP 2: Pick up the head of lettuce on the counter left of the sink. | STEP 3: Turn completely around, walk to the wall, turn to your left and walk to the refrigerator. | STEP 4: Open the refrigerator door, place the lettuce on the shelf to the right of the bowl, then close the refrigerator door.  Open the refrigerator door again, remove the head of lettuce, and close the refrigerator door. | STEP 5: Turn completely around and walk toward the chair and waste basket. | STEP 6: Place the head of lettuce in the waste basket. | END