Task: Rinse a lettuce and throw it away

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.5           0.908          2.75           0              180            0
   1  SprayBottle     -1.383         0.749          1.902          0              0              0              50
   2  Potato          -1.320         1.466          1.302          0              90             0              89
   3  ButterKnife     1.444          0.911          0.139          0              0              0              69
   4  Glassbottle     -0.919         0.749          2.830          0              0              0              50
   5  Spoon           1.444          0.912          -0.428         0              0              0              69
   6  Spatula         1.207          0.926          0.139          0              0              0              69
   7  Spatula         1.365          0.926          -0.144         0              0              0              69
   8  Egg             -1.513         0.946          -0.477         0              0              0              75
   9  Egg             -1.329         1.049          0.046          0              90             0              95
  10  Cup             1.293          1.655          -0.513         0              0              0              51
  11  Knife           -1.012         0.770          1.902          0              0              0              50
  12  Tomato          -1.320         1.338          1.092          0              90             0              89
  13  Tomato          1.117          0.936          2.692          0              0              0              101
  14  SoapBottle      -1.176         0.118          0.207          0              180            0              72
  15  Bowl            -1.206         1.635          1.086          0              90             0              89
  16  Bowl            -1.320         0.749          1.092          0              90             0              89
  17  Bread           -1.290         0.813          2.644          0              0              0              50
  18  Bread           -1.320         0.814          0.883          0              90             0              89
  19  Lettuce         -1.012         0.820          2.273          0              0              0              50
  20  Lettuce         1.444          0.982          0.422          0              0              0              69
  21  Lettuce         -0.919         0.820          2.644          0              0              0              50
  22  SaltShaker      -1.475         0.745          2.830          0              0              0              50
  23  SaltShaker      -0.664         1.652          -0.847         0              0              0              54
  24  Bread           -1.263         1.484          0.988          0              90             0              89
  25  Glassbottle     1.128          0.912          0.706          0              0              0              69
  26  Fork            -1.197         0.750          2.087          0              0              0              50
  27  Kettle          1.325          2.157          0.555          0              0              0              60
  28  Tomato          1.200          0.936          2.369          0              0              0              101
  29  Plate           -1.437         0.912          -0.732         0              0              0              75
  30  CellPhone       1.099          0.773          0.368          0              0              0              83
  31  Lettuce         1.365          0.982          0.139          0              0              0              69
  32  Pot             0.502          0.939          -0.740         0              90             0              76
  33  SoapBottle      1.128          0.912          -0.428         0              0              0              69
  34  WineBottle      -0.919         0.749          2.459          0              0              0              50
  35  Spatula         1.365          0.926          -0.428         0              90             0              69
  36  Bowl            1.174          0.115          -0.052         0              0              0              63
  37  Apple           1.117          0.946          2.477          0              0              0              101
  38  Cup             -1.105         0.748          2.087          0              0              0              50
  39  Knife           1.286          0.933          0.422          0              0              0              69
  40  Egg             -1.361         1.049          0.098          0              90             0              95
  41  SaltShaker      1.034          0.882          2.261          0              0              0              101
  42  PepperShaker    -1.220         0.113          0.289          0              180            0              72
  43  Potato          1.450          0.931          2.584          0              0              0              101
  44  ButterKnife     -1.197         0.749          2.273          0              0              0              50
  45  DishSponge      -1.156         0.775          -0.171         0              180            0              73
  46  Pan             0.802          0.939          -0.473         0              0              0              77
  47  Spoon           -0.919         0.750          3.015          0              0              0              50
  48  SprayBottle     -1.437         0.911          -0.477         0              0              0              75
  49  Mug             -1.296         1.010          -0.109         0              90             0              95
  50  DiningTable     -1.182         0.006          2.414          0              90             0
  51  Cabinet         1.184          2.059          0.375          0              0              0
  52  Cabinet         1.184          2.059          -0.635         0              0              0
  53  Cabinet         0.591          2.309          -0.645         0              0              0
  54  Cabinet         -0.574         2.059          -0.644         0              0              0
  55  Cabinet         -1.103         2.059          -0.644         0              0              0
  56  Cabinet         -1.185         2.059          -0.331         0              0              0
  57  Cabinet         -1.185         2.059          -0.281         0              0              0
  58  Cabinet         -1.185         2.059          0.375          0              0              0
  59  Cabinet         1.184          2.309          1.174          0              0              0
  60  Cabinet         1.184          2.309          0.424          0              0              0
  61  Cabinet         0.988          0.402          0.581          0              0              0
  62  Cabinet         0.988          0.402          0.531          0              0              0
  63  Cabinet         0.988          0.402          -0.178         0              0              0
  64  Cabinet         0.335          0.402          -0.348         0              0              0
  65  Cabinet         -0.374         0.402          -0.348         0              0              0
  66  Cabinet         0.988          0.402          1.231          0              0              0
  67  Cabinet         -1.185         2.309          1.374          0              0              0
  68  Cabinet         -1.185         2.309          0.424          0              0              0
  69  CounterTop      1.274          0.947          0.064          0              0              0
  70  Drawer          1.116          0.792          -0.015         0              0              0
  71  Drawer          -1.116         0.792          0.210          0              180            0
  72  Cabinet         -0.990         0.402          0.374          0              180            0
  73  Drawer          -1.116         0.792          -0.170         0              180            0
  74  Cabinet         -0.990         0.402          -0.335         0              180            0
  75  CounterTop      -1.001         0.947          -0.669         0              0              0
  76  StoveBurner     0.502          0.932          -0.740         0              90             0
  77  StoveBurner     0.801          0.932          -0.473         0              0              0
  78  StoveBurner     0.801          0.932          -0.740         0              90             0
  79  Drawer          1.116          0.792          1.081          0              0              0
  80  Sink            -0.013         0.912          -0.615         0              0              0
  81  Drawer          1.116          0.792          0.732          0              0              0
  82  StoveBurner     0.502          0.932          -0.469         0              0              0
  83  Drawer          1.116          0.792          0.367          0              0              0
  84  StoveKnob       0.550          1.085          -0.912         287.970        180            0
  85  StoveKnob       0.884          1.085          -0.912         287.970        180            0
  86  StoveKnob       0.432          1.085          -0.912         287.970        180            0
  87  StoveKnob       0.777          1.085          -0.912         287.970        180            0
  88  CoffeeMachine   1.304          0.900          -0.741         0              320.314        0
  89  Fridge          -1.300         0.008          0.987          0              90             0
  90  GarbageCan      1.296          -0.024         1.465          0              0              0
  91  Window          -0.012         1.641          -0.972         90             0              0
  92  Window          1.598          1.646          2.489          90             270            0
  93  Toaster         1.356          0.900          1.044          0              270            0
  94  LightSwitch     0.118          1.353          3.799          0              180            0
  95  Microwave       -1.343         0.900          0.053          0              90             0
  96  SinkBasin       -0.029         0.748          -0.612         0              0              0
  97  Faucet          -0.026         0.927          -0.808         0              0              0
  98  Shelf           -1.182         0.127          2.414          0              90             0
  99  Stool           1.140          0.007          3.262          1.206          20.753         0
 100  Shelf           -1.182         0.435          2.414          0              90             0
 101  DiningTable     1.169          0.014          2.569          0              0              1.896
 102  NorthWall
 103  EastWall
 104  SouthWall
 105  WestWall

Plan:
STEP 1: Walk forwards and then turn to your left so that you are facing the kitchen counter | STEP 2: Pick up a lettuce off of the counter | STEP 3: Turn around and then head to your left to face the sink | STEP 4: Put the lettuce in the sink, rinse it for a few seconds and then pick it back up | STEP 5: Turn around and then turn to your right to face the trash can | STEP 6: Throw the lettuce in the trash can | END