Task: Place clean lettuce inside 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           1.75           0.900          0.75           0              270            0
   1  Potato          -1.610         0.888          -1.013         0              90             0              70
   2  DishSponge      1.958          0.086          0.160          0              0              0              63
   3  DishSponge      -0.668         0.913          -2.200         0              0              0              62
   4  ButterKnife     0.180          0.926          0.305          0              0              0              79
   5  WineBottle      -1.116         0.127          -1.575         0              90             0              57
   6  Spoon           0.066          0.931          0.762          0              180            0              79
   7  Spoon           -0.113         0.914          -1.713         0              0              0              62
   8  Fork            0.180          0.931          0.534          0              0              0              79
   9  Cup             1.828          0.913          -1.329         0              0              0              62
  10  Cup             0.522          0.930          0.076          0              0              0              79
  11  Plate           1.359          0.556          2.534          0              0              0              82
  12  Tomato          0.522          0.982          0.534          0              0              0              79
  13  Tomato          -1.438         0.911          -0.702         0              90             0              70
  14  Bowl            -1.495         1.180          -0.806         0              90             0              70
  15  Lettuce         0.066          1.011          0.305          0              0              0              79
  16  SaltShaker      1.807          0.116          -1.397         0              270            0              54
  17  Bread           0.066          0.972          1.220          0              0              0              79
  18  Mug             1.261          0.951          -1.934         0              0              0              72
  19  Mug             1.294          0.114          -1.968         0              0              0              54
  20  Apple           -1.284         1.086          -1.638         0              90             0              68
  21  Potato          -0.160         0.959          0.076          0              0              0              79
  22  Bowl            1.773          0.549          2.534          0              0              0              88
  23  SoapBottle      0.294          0.929          0.762          0              0              0              79
  24  Fork            -0.047         0.931          1.220          0              0              0              79
  25  Ladle           -1.000         0.957          -2.188         0              0              0              62
  26  Bread           -0.047         0.975          0.762          0              0              0              79
  27  Lettuce         0.408          1.008          0.305          0              0              0              79
  28  WineBottle      1.786          0.087          0.160          0              0              0              63
  29  Spatula         1.738          0.928          -1.095         0              270            0              62
  30  Plate           0.481          0.923          1.077          0              0              0              79
  31  SaltShaker      1.466          0.909          -1.095         0              0              0              62
  32  Pot             -0.117         0.921          1.5            0              0              0              79
  33  Cup             -1.495         1.504          -1.013         0              90             0              70
  34  PepperShaker    1.838          1.654          -1.240         0              270            0              53
  35  Pan             1.824          0.945          -0.346         0              0              0              43
  36  ButterKnife     0.457          0.913          -1.918         0              0              0              62
  37  Tomato          -1.572         1.556          -0.599         0              90             0              70
  38  DishSponge      1.850          0.913          -1.834         0              0              0              62
  39  Egg             -1.186         1.069          -1.638         0              90             0              68
  40  Spoon           -0.616         0.914          -2.134         0              0              0              62
  41  Knife           1.605          0.906          -1.582         270            225            0              62
  42  Mug             -1.438         1.178          -0.599         0              90             0              70
  43  StoveBurner     1.845          0.940          -0.355         0              0              0
  44  StoveBurner     1.567          0.940          -0.757         0              0              0
  45  Cabinet         -1.149         2.019          -1.979         0              90             0
  46  Cabinet         -1.149         2.265          -0.834         0              90             0
  47  Cabinet         -0.459         2.265          -2.0           0              0              0
  48  Cabinet         -1.100         2.019          -2.0           0              0              0
  49  Cabinet         1.719          2.019          -2.0           0              0              0
  50  Cabinet         1.179          2.019          -2.0           0              0              0
  51  Cabinet         0.199          2.019          -2.0           0              0              0
  52  Cabinet         1.75           2.019          -1.399         0              270            0
  53  Cabinet         1.75           2.019          -1.029         0              270            0
  54  Cabinet         1.379          0.469          -1.689         0              0              0
  55  Cabinet         -0.819         0.469          -1.689         0              0              0
  56  Cabinet         1.389          0.469          -1.059         0              270            0
  57  Cabinet         -0.839         0.469          -1.665         0              90             0
  58  StoveBurner     1.567          0.940          -0.355         0              0              0
  59  StoveBurner     1.845          0.940          -0.757         0              0              0
  60  Sink            -0.109         0.893          -2.009         0              0              0
  61  Drawer          -0.819         0.75           -1.690         0              0              0
  62  CounterTop      0.232          0.949          -2.002         0              0              0
  63  GarbageCan      1.855          -0.034         0.141          0              358.959        0
  64  Vase            0.251          0.546          0.475          0              270            0
  65  Toaster         0.780          0.900          -2.080         0              0              0
  66  LightSwitch     0.108          1.315          2.75           0              180            0
  67  Vase            0.400          0.925          0.218          0              180            0
  68  Microwave       -1.233         0.900          -1.680         0              90             0
  69  Vase            1.465          1.662          -2.200         0              0              0
  70  Fridge          -1.495         0.0            -0.703         0              0              0
  71  Window          2.114          1.495          1.072          90             270            0
  72  CoffeeMachine   1.374          0.899          -2.112         0              0              0
  73  Vase            0.333          0.546          1.272          0              270            0
  74  SinkBasin       -0.148         0.753          -2.026         0              0              0
  75  StoveKnob       2.037          1.089          -0.405         0              0              74.477
  76  StoveKnob       2.037          1.089          -0.251         0              0              74.477
  77  StoveKnob       2.037          1.089          -0.649         0              0              74.477
  78  StoveKnob       2.037          1.089          -0.814         0              0              74.477
  79  DiningTable     0.170          0.005          0.678          0              270            0
  80  Shelf           0.170          0.155          0.678          0              270            0
  81  Shelf           1.605          0.172          2.480          0              0              0
  82  Shelf           1.605          0.552          2.480          0              0              0
  83  Shelf           1.604          0.880          2.479          0              0              0
  84  ShelvingUnit    1.605          0.006          2.480          0              0              0
  85  Faucet          -0.143         1.028          -2.223         0              270            0
  86  Stool           -0.553         0.000          0.871          1.233          280.376        0
  87  Shelf           0.170          0.528          0.678          0              270            0
  88
  89  NorthWall
  90  EastWall
  91  SouthWall
  92  WestWall

Plan:
STEP 1: Walk to the left side of the table straight ahead. | STEP 2: Grab the lettuce between the cup and tomato on the counter. | STEP 3: Turn left, walk to the fridge to your right, when you reach the fridge turn left to face the sink. | STEP 4: Place the lettuce in the sink, wash it and remove it. | STEP 5: Turn left, walk to the stove, when you reach the stove, turn left, walk straight and then make a quick right to the waste basket to the side of the stove. | STEP 6: Place the lettuce inside the waste basket. | END