Task: place the cooled lettuce inside of the garbage 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          -1.0           0              0              0
   1  Potato          -0.577         0.858          1.414          0              90             0              108
   2  Ladle           2.561          0.071          -0.220         0              270            0              77
   3  ButterKnife     2.525          0.764          4.495          0              90             0              52
   4  WineBottle      2.683          0.765          4.517          0              225            0              52
   5  Glassbottle     -0.906         0.786          -0.405         0              90             0              95
   6  Spatula         1.724          0.815          1.807          0              227.0          0              66
   7  Fork            2.893          0.765          4.307          0              225            0              52
   8  Egg             2.000          1.895          -1.809         0              0              0              97
   9  Cup             -0.906         0.784          -0.738         0              90             0              95
  10  Plate           2.975          0.764          4.118          0              270            0              52
  11  Knife           2.061          0.789          3.580          0              225            0              52
  12  Knife           2.276          0.789          4.044          0              0              0              52
  13  Tomato          -0.714         0.870          1.492          0              90             0              108
  14  SoapBottle      1.170          1.025          -1.987         0              90             0              51
  15  SoapBottle      2.321          0.763          3.840          0              225            0              52
  16  Bowl            -0.920         1.025          2.556          0              0              0              54
  17  Bowl            -0.714         0.814          1.181          0              90             0              108
  18  SaltShaker      1.350          1.023          -1.667         0              90             0              51
  19  PepperShaker    2.414          0.760          3.736          0              329.999        0              52
  20  PepperShaker    1.903          0.760          3.737          0              225            0              52
  21  Bread           2.525          0.832          4.145          0              0              0              52
  22  Bread           2.626          0.832          3.821          0              270            0              52
  23  Pan             1.836          1.027          -1.84          0              90             0              49
  24  Glassbottle     2.334          1.027          0.958          0              136.999        0              51
  25  Knife           2.706          0.828          -1.086         0              270            0              51
  26  SoapBottle      2.754          1.025          1.350          0              136.999        0              51
  27  Egg             -1.028         0.830          -0.738         0              90             0              95
  28  Fork            2.649          0.801          -0.653         0              0              0              60
  29  Potato          1.230          1.068          -1.774         0              90             0              51
  30  Ladle           2.228          0.803          3.62           0              90             0              52
  31  Tomato          2.919          0.818          3.604          0              329.999        0              52
  32  Pot             1.334          0.023          -1.670         0              270            0              70
  33  WineBottle      1.290          1.027          -1.987         0              90             0              51
  34  Plate           2.959          1.027          -0.846         0              0              0              51
  35  Spatula         2.525          0.779          4.495          0              0              0              52
  36  PaperTowelRoll  2.460          0.868          4.399          0              329.999        0              52
  37  Lettuce         1.533          1.085          1.606          0              136.999        0              51
  38  Apple           2.302          0.814          3.445          0              0              0              52
  39  SaltShaker      3.065          0.031          0.316          0              0              0              78
  40  PepperShaker    2.525          0.760          3.62           0              0              0              52
  41  ButterKnife     -0.731         0.800          0.454          0              0              0              53
  42  Bread           -0.987         0.854          -0.184         0              90             0              95
  43  Cup             -0.968         1.440          -0.295         0              90             0              95
  44  DishSponge      2.291          0.801          1.094          0              317.0          0              64
  45  Bowl            2.216          0.762          3.945          0              225            0              52
  46  Spoon           -0.794         1.028          2.556          0              0              0              54
  47  Mug             2.621          1.021          -1.456         0              0              0              51
  48  Sink            -0.716         1.023          1.333          0              0              0
  49  StoveBurner     1.835          1.018          -1.840         0              90             0
  50  StoveBurner     2.177          1.018          -1.599         0              0              0
  51  CounterTop      2.812          0.992          0.675          0              0              0
  52  DiningTable     2.419          0.003          3.930          0              0              0
  53  Drawer          -0.643         0.828          0.616          0              0              0
  54  CounterTop      -0.813         1.062          2.188          0              0              0
  55  StoveBurner     2.115          1.018          -1.840         0              270            0
  56  Drawer          -0.643         0.831          1.953          0              0              0
  57  Drawer          -0.643         0.833          2.418          0              0              0
  58  Drawer          1.347          0.836          -1.539         0              0              0
  59  Drawer          2.693          0.833          -1.131         0              0              0
  60  Drawer          2.693          0.833          -0.699         0              0              0
  61  Drawer          2.693          0.833          -0.267         0              0              0
  62  Drawer          2.693          0.833          0.163          0              0              0
  63  Drawer          2.524          0.833          0.720          0              2.000          0
  64  Drawer          2.232          0.833          1.036          0              2.000          0
  65  Drawer          1.936          0.833          1.354          0              2.000          0
  66  Drawer          1.646          0.833          1.670          0              2.000          0
  67  Cabinet         1.504          2.475          -1.710         0              0              0
  68  Cabinet         -0.823         2.220          1.621          0              0              0
  69  Cabinet         -0.823         2.220          0.615          0              0              0
  70  Cabinet         1.136          0.388          -1.355         0              0              0
  71  Cabinet         -0.356         0.383          2.626          0              0              0
  72  Cabinet         2.745          2.220          -1.690         0              0              0
  73  Cabinet         1.882          0.383          1.017          0              0              0
  74  Cabinet         1.307          0.473          1.640          0              0              0
  75  Cabinet         1.892          0.383          1.006          0              0              0
  76  Cabinet         2.467          0.383          0.383          0              0              0
  77  Cabinet         2.466          0.383          -0.475         0              0              0
  78  Cabinet         2.466          0.473          0.371          0              0              0
  79  Cabinet         2.386          2.475          -1.710         0              0              0
  80  Cabinet         -0.356         0.383          1.712          0              0              0
  81  Cabinet         2.745          2.220          0.019          0              0              0
  82  Cabinet         -0.663         2.496          0.157          0              0              0
  83  Cabinet         -0.663         2.496          -0.868         0              0              0
  84  Cabinet         -0.356         0.383          0.269          0              0              0
  85  Cabinet         -0.823         2.220          1.603          0              0              0
  86  Cabinet         -0.662         2.234          0.586          0              0              0
  87  Cabinet         2.745          2.220          -0.843         0              0              0
  88  Cabinet         2.745          2.220          -0.827         0              0              0
  89  Cabinet         -0.823         2.220          2.608          0              0              0
  90  Cabinet         2.732          2.226          -1.709         0              0              0
  91  Cabinet         1.137          2.226          -1.709         0              0              0
  92  Cabinet         2.466          0.383          -0.491         0              0              0
  93  Cabinet         2.466          0.383          -1.339         0              0              0
  94  StoveBurner     1.761          1.018          -1.599         0              0              0
  95  Fridge          -0.908         0.0            -0.405         0              0              0
  96  HousePlant      2.517          1.016          1.822          0              0              0
  97  Microwave       1.939          1.745          -1.826         0              0              0
  98  StoveKnob       2.017          1.041          -1.514         0              180            180
  99  StoveKnob       1.934          1.041          -1.514         0              180            180
 100  StoveKnob       2.017          1.041          -1.589         0              180            180
 101  StoveKnob       1.934          1.041          -1.589         0              180            180
 102  Window          1.756          1.608          4.762          90             0              0
 103  HousePlant      2.171          1.004          2.091          0              0              0
 104  CoffeeMachine   -0.942         1.018          0.645          0              90             0
 105  LightSwitch     -0.099         1.410          -2.066         0              0              0
 106  GarbageCan      -0.951         -0.029         2.826          0              0              0
 107  Toaster         -1.007         1.018          2.238          0              90             0
 108  SinkBasin       -0.714         0.805          1.348          0              90             0
 109  Chair           1.615          0.004          4.310          0              107.976        0
 110  Faucet          -1.120         1.013          1.334          0              90             0
 111  Chair           2.759          0.004          3.086          0              358.967        0
 112
 113  NorthWall
 114  EastWall
 115  SouthWall
 116  WestWall

Plan:
STEP 1: turn right and walk forwards to the counter ahead, then turn left and walk forwards to the counter ahead | STEP 2: grab the lettuce off of the counter there | STEP 3: turn around and walk forwards to the kitchen counter ahead, then turn right and walk over to the fridge at the end of the room | STEP 4: place the lettuce inside of the fridge, close the door, let the lettuce cool, then open the door and take the lettuce back out | STEP 5: turn right and walk over to the end of the room, but then turn left to face the garbage bin on the left at the end of the counter cabinets | STEP 6: place the lettuce inside of the garbage bin | END