Task: place a clean lettuce head in the bin

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.25           0.908          3.25           0              90             0
   1  Potato          -1.361         1.060          0.098          0              90             0              94
   2  Potato          -1.361         1.060          -0.109         0              90             0              94
   3  CellPhone       1.155          0.774          0.332          0              0              0              82
   4  CellPhone       1.117          0.884          2.477          0              0              0              100
   5  Glassbottle     0.994          2.156          -0.724         0              0              0              52
   6  Glassbottle     1.088          0.116          1.157          0              0              0              65
   7  WineBottle      1.189          0.087          1.503          0              0              0              89
   8  Fork            1.523          0.912          0.422          0              90             0              68
   9  Fork            1.207          0.912          0.706          0              0              0              68
  10  Spatula         -1.105         0.764          1.902          0              0              0              49
  11  Pot             0.802          0.939          -0.740         0              90             0              77
  12  Cup             1.049          0.910          -0.428         0              0              0              68
  13  Plate           -1.263         0.752          0.778          0              90             0              88
  14  Plate           -1.320         0.752          1.092          0              90             0              88
  15  SoapBottle      1.175          0.117          0.656          0              0              0              60
  16  SoapBottle      1.444          0.912          0.422          0              0              0              68
  17  Bread           1.284          0.949          2.261          0              0              0              100
  18  SaltShaker      -1.383         0.745          2.459          0              0              0              49
  19  SaltShaker      1.034          0.882          2.153          0              0              0              100
  20  PepperShaker    0.659          2.151          -0.787         0              0              0              52
  21  Mug             1.215          0.943          -0.633         0              320.314        0              87
  22  Mug             -1.012         0.743          2.830          0              180            0              49
  23  Bread           1.207          0.974          0.139          0              0              0              68
  24  Glassbottle     -1.383         0.750          2.830          0              0              0              49
  25  Fork            -1.197         0.749          3.015          0              0              0              49
  26  Kettle          -1.357         0.739          3.024          0              240.000        0              49
  27  Tomato          -1.320         1.686          1.289          0              90             0              88
  28  Plate           -1.012         0.750          2.087          0              0              0              49
  29  CellPhone       1.450          0.884          2.584          0              0              0              100
  30  Lettuce         -1.383         0.820          2.273          0              0              0              49
  31  Pot             0.502          0.939          -0.740         0              90             0              75
  32  SoapBottle      1.117          0.887          2.692          0              0              0              100
  33  WineBottle      1.523          0.912          -0.428         0              0              0              68
  34  Spatula         -1.012         0.763          2.459          0              0              0              49
  35  Bowl            -1.263         1.419          0.883          0              90             0              88
  36  Apple           -1.383         0.809          2.087          0              0              0              49
  37  Cup             1.450          0.885          2.692          0              0              0              100
  38  Knife           -1.123         0.934          -0.669         0              0              0              74
  39  Egg             -0.813         0.946          -0.748         0              0              0              74
  40  SaltShaker      -1.263         2.149          0.481          0              0              0              67
  41  PepperShaker    -1.105         0.745          2.644          0              0              0              49
  42  Potato          1.284          0.931          2.477          0              0              0              100
  43  ButterKnife     -1.290         0.749          2.459          0              0              0              49
  44  DishSponge      1.325          2.156          0.599          0              0              0              59
  45  Pan             -1.332         0.9            -0.699         0              345.0          0              74
  46  Spoon           1.034          0.887          2.800          0              0              0              100
  47  SprayBottle     1.365          0.910          -0.144         0              0              0              68
  48  Mug             -0.664         1.651          -0.724         0              0              0              53
  49  DiningTable     -1.182         0.006          2.414          0              90             0
  50  Cabinet         1.184          2.059          0.375          0              0              0
  51  Cabinet         1.184          2.059          -0.635         0              0              0
  52  Cabinet         0.591          2.309          -0.645         0              0              0
  53  Cabinet         -0.574         2.059          -0.644         0              0              0
  54  Cabinet         -1.103         2.059          -0.644         0              0              0
  55  Cabinet         -1.185         2.059          -0.331         0              0              0
  56  Cabinet         -1.185         2.059          -0.281         0              0              0
  57  Cabinet         -1.185         2.059          0.375          0              0              0
  58  Cabinet         1.184          2.309          1.174          0              0              0
  59  Cabinet         1.184          2.309          0.424          0              0              0
  60  Cabinet         0.988          0.402          0.581          0              0              0
  61  Cabinet         0.988          0.402          0.531          0              0              0
  62  Cabinet         0.988          0.402          -0.178         0              0              0
  63  Cabinet         0.335          0.402          -0.348         0              0              0
  64  Cabinet         -0.374         0.402          -0.348         0              0              0
  65  Cabinet         0.988          0.402          1.231          0              0              0
  66  Cabinet         -1.185         2.309          1.374          0              0              0
  67  Cabinet         -1.185         2.309          0.424          0              0              0
  68  CounterTop      1.274          0.947          0.064          0              0              0
  69  Drawer          1.116          0.792          -0.015         0              0              0
  70  Drawer          -1.116         0.792          0.210          0              180            0
  71  Cabinet         -0.990         0.402          0.374          0              180            0
  72  Drawer          -1.116         0.792          -0.170         0              180            0
  73  Cabinet         -0.990         0.402          -0.335         0              180            0
  74  CounterTop      -1.001         0.947          -0.669         0              0              0
  75  StoveBurner     0.502          0.932          -0.740         0              90             0
  76  StoveBurner     0.801          0.932          -0.473         0              0              0
  77  StoveBurner     0.801          0.932          -0.740         0              90             0
  78  Drawer          1.116          0.792          1.081          0              0              0
  79  Sink            -0.013         0.912          -0.615         0              0              0
  80  Drawer          1.116          0.792          0.732          0              0              0
  81  StoveBurner     0.502          0.932          -0.469         0              0              0
  82  Drawer          1.116          0.792          0.367          0              0              0
  83  StoveKnob       0.550          1.085          -0.912         287.970        180            0
  84  StoveKnob       0.884          1.085          -0.912         287.970        180            0
  85  StoveKnob       0.432          1.085          -0.912         287.970        180            0
  86  StoveKnob       0.777          1.085          -0.912         287.970        180            0
  87  CoffeeMachine   1.304          0.900          -0.741         0              320.314        0
  88  Fridge          -1.300         0.008          0.987          0              90             0
  89  GarbageCan      1.296          -0.024         1.465          0              0              0
  90  Window          -0.012         1.641          -0.972         90             0              0
  91  Window          1.598          1.646          2.489          90             270            0
  92  Toaster         1.356          0.900          1.044          0              270            0
  93  LightSwitch     0.118          1.353          3.799          0              180            0
  94  Microwave       -1.343         0.900          0.053          0              90             0
  95  SinkBasin       -0.029         0.748          -0.612         0              0              0
  96  Faucet          -0.026         0.927          -0.808         0              0              0
  97  Shelf           -1.182         0.127          2.414          0              90             0
  98  Stool           1.140          0.007          3.262          1.206          20.753         0
  99  Shelf           -1.182         0.435          2.414          0              90             0
 100  DiningTable     1.169          0.014          2.569          0              0              1.896
 101  NorthWall
 102  EastWall
 103  SouthWall
 104  WestWall

Plan:
STEP 1: turn around and head towards the table | STEP 2: pickup the lettuce head from the table | STEP 3: turn left and head for the sink | STEP 4: wash the lettuce in the sink | STEP 5: turn around and head towards the bin | STEP 6: trash the lettuce head in the bin | END