Task: Place a washed head of lettuce in the waste basket

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           0.900          2.0            0              0              0
   1  Potato          -0.160         0.959          1.448          0              0              0              82
   2  Ladle           0.408          0.975          0.534          0              180            0              82
   3  DishSponge      1.773          0.552          2.482          0              0              0              91
   4  DishSponge      1.359          0.552          2.431          0              0              0              85
   5  WineBottle      1.738          0.914          -1.680         0              0              0              65
   6  WineBottle      1.829          0.087          0.121          0              0              0              66
   7  Spatula         1.647          0.928          -1.563         0              0              0              65
   8  Fork            -0.772         0.914          -2.134         0              0              0              65
   9  Egg             -1.553         0.913          -0.495         0              90             0              73
  10  Egg             0.066          0.980          0.076          0              0              0              82
  11  Knife           1.919          0.936          -1.446         0              90             0              65
  12  Knife           -0.113         0.936          -1.725         0              0              0              65
  13  Tomato          -0.047         0.982          0.991          0              0              0              82
  14  SoapBottle      -1.313         2.146          -1.202         0              90             0              49
  15  Bowl            1.871          1.654          -1.673         0              270            0              55
  16  Lettuce         -1.495         1.264          -0.599         0              90             0              73
  17  Lettuce         -0.047         1.011          0.762          0              0              0              82
  18  PepperShaker    0.066          0.926          1.220          0              0              0              82
  19  Mug             1.566          0.548          2.379          0              0              0              85
  20  Mug             0.180          0.921          0.762          0              0              0              82
  21  Apple           0.180          1.001          1.220          0              0              0              82
  22  Apple           -0.720         0.984          -2.167         0              0              0              65
  23  Apple           -0.047         1.001          0.305          0              0              0              82
  24  Potato          -1.495         1.212          -0.910         0              90             0              73
  25  Bowl            1.256          0.115          -1.860         0              0              0              57
  26  SoapBottle      0.180          0.919          0.991          0              0              0              82
  27  Fork            0.294          0.923          0.991          3.607          0              0              82
  28  Ladle           0.180          0.975          0.534          0              0              0              82
  29  Bread           0.399          0.964          0.110          0              0              1.601          82
  30  Lettuce         1.828          0.994          -1.446         0              0              0              65
  31  WineBottle      0.408          0.931          0.762          0              0              0              82
  32  Spatula         0.180          0.945          1.448          0              0              0              82
  33  Plate           0.481          0.923          1.077          0              0              0              82
  34  SaltShaker      0.180          0.926          0.076          0              0              0              82
  35  Pot             1.567          0.948          -0.757         0              0              0              47
  36  Cup             -1.036         0.913          -2.151         0              0              0              65
  37  PepperShaker    1.466          0.909          -1.446         0              0              0              65
  38  Pan             1.824          0.945          -0.346         0              0              0              46
  39  ButterKnife     -0.791         0.9            -2.186         0              164.999        0              65
  40  Tomato          0.294          0.978          0.534          0              0              0              82
  41  DishSponge      -0.617         0.111          -1.917         0              0              0              58
  42  Egg             -1.648         1.558          -1.013         0              90             0              73
  43  Spoon           -0.616         0.914          -2.134         0              0              0              65
  44  Knife           1.647          0.936          -1.446         0              90             0              65
  45  Mug             1.850          0.908          -1.834         0              0              0              65
  46  StoveBurner     1.845          0.940          -0.355         0              0              0
  47  StoveBurner     1.567          0.940          -0.757         0              0              0
  48  Cabinet         -1.149         2.019          -1.979         0              90             0
  49  Cabinet         -1.149         2.265          -0.834         0              90             0
  50  Cabinet         -0.459         2.265          -2.0           0              0              0
  51  Cabinet         -1.100         2.019          -2.0           0              0              0
  52  Cabinet         1.719          2.019          -2.0           0              0              0
  53  Cabinet         1.179          2.019          -2.0           0              0              0
  54  Cabinet         0.199          2.019          -2.0           0              0              0
  55  Cabinet         1.75           2.019          -1.399         0              270            0
  56  Cabinet         1.75           2.019          -1.029         0              270            0
  57  Cabinet         1.379          0.469          -1.689         0              0              0
  58  Cabinet         -0.819         0.469          -1.689         0              0              0
  59  Cabinet         1.389          0.469          -1.059         0              270            0
  60  Cabinet         -0.839         0.469          -1.665         0              90             0
  61  StoveBurner     1.567          0.940          -0.355         0              0              0
  62  StoveBurner     1.845          0.940          -0.757         0              0              0
  63  Sink            -0.109         0.893          -2.009         0              0              0
  64  Drawer          -0.819         0.75           -1.690         0              0              0
  65  CounterTop      0.232          0.949          -2.002         0              0              0
  66  GarbageCan      1.855          -0.034         0.141          0              358.959        0
  67  Vase            0.251          0.546          0.475          0              270            0
  68  Toaster         0.780          0.900          -2.080         0              0              0
  69  LightSwitch     0.108          1.315          2.75           0              180            0
  70  Vase            0.400          0.925          0.218          0              180            0
  71  Microwave       -1.233         0.900          -1.680         0              90             0
  72  Vase            1.465          1.662          -2.200         0              0              0
  73  Fridge          -1.495         0.0            -0.703         0              0              0
  74  Window          2.114          1.495          1.072          90             270            0
  75  CoffeeMachine   1.374          0.899          -2.112         0              0              0
  76  Vase            0.333          0.546          1.272          0              270            0
  77  SinkBasin       -0.148         0.753          -2.026         0              0              0
  78  StoveKnob       2.037          1.089          -0.405         0              0              74.477
  79  StoveKnob       2.037          1.089          -0.251         0              0              74.477
  80  StoveKnob       2.037          1.089          -0.649         0              0              74.477
  81  StoveKnob       2.037          1.089          -0.814         0              0              74.477
  82  DiningTable     0.170          0.005          0.678          0              270            0
  83  Shelf           0.170          0.155          0.678          0              270            0
  84  Shelf           1.605          0.172          2.480          0              0              0
  85  Shelf           1.605          0.552          2.480          0              0              0
  86  Shelf           1.604          0.880          2.479          0              0              0
  87  ShelvingUnit    1.605          0.006          2.480          0              0              0
  88  Faucet          -0.143         1.028          -2.223         0              270            0
  89  Stool           -0.553         0.000          0.871          1.233          280.376        0
  90  Shelf           0.170          0.528          0.678          0              270            0
  91
  92  NorthWall
  93  EastWall
  94  SouthWall
  95  WestWall

Plan:
STEP 1: turn to the right and go past the table and turn to the right and go to the counter and turn to the left facing the counter | STEP 2: pick up the head of lettuce from the counter top | STEP 3: turn to the right twice and go to the front of the sink and turn to the left facing the sink | STEP 4: put the head of lettuce in the sink and turn on the water to fill the sink and turn off and drain the water from the sink and pick up the head of lettuce from the sink | STEP 5: turn to the left and go to the counter and turn to the left and go past the stove and turn to the right and go to the waste basket | STEP 6: put the head of lettuce in the waste basket | END