Task: Put a chilled head of lettuce on a black table.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.25          0.900          1.0            0              0              0
   1  Potato          -0.354         0.794          6.940          0              135            0              92
   2  DishSponge      -0.221         0.759          6.323          0              0              0              92
   3  DishSponge      1.489          2.206          3.840          0              0              0              47
   4  Kettle          1.332          0.897          2.137          0              90             0              45
   5  Spatula         -0.159         0.775          6.014          0              0              0              92
   6  Spatula         -0.467         0.775          6.479          0              270            0              92
   7  Fork            0.532          0.772          0.395          0              90             0              48
   8  Fork            0.871          0.772          0.451          0              0              0              48
   9  Egg             2.009          1.565          5.376          0              270            0              78
  10  Plate           1.499          1.576          4.694          0              0              0              60
  11  Plate           1.573          0.141          1.938          0              0              0              45
  12  Tomato          2.009          1.565          5.501          0              270            0              78
  13  Tomato          -0.034         0.809          6.478          0              0              0              92
  14  SoapBottle      -0.621         0.760          6.604          0              270            0              92
  15  Bowl            1.238          0.139          2.012          0              0              0              45
  16  Bowl            1.582          0.991          0.440          0              0              0              56
  17  Lettuce         0.305          0.848          6.604          0              270            0              92
  18  Mug             0.150          0.755          6.354          0              270            0              92
  19  Mug             2.137          1.510          5.251          0              270            0              78
  20  Apple           2.055          0.155          6.498          0              0              0              80
  21  Bowl            0.958          1.578          0.207          0              0              0              63
  22  Bread           -0.096         0.829          6.787          0              0              0              92
  23  Egg             1.314          1.042          3.511          0              0              0              56
  24  Knife           1.348          0.801          3.223          0              0              0              49
  25  Fork            1.292          0.772          3.429          0              0              0              49
  26  Apple           0.064          1.171          0.245          0              0              0              72
  27  Kettle          1.32           0.988          3.848          0              0              0              55
  28  Plate           0.745          0.144          0.418          0              0              0              62
  29  SaltShaker      -0.486         0.755          6.151          0              225            0              92
  30  Lettuce         -0.535         1.081          0.578          0              0              0              56
  31  SoapBottle      -0.611         0.992          0.120          0              0              0              56
  32  Spatula         0.696          1.007          0.670          0              0              0              56
  33  PaperTowelRoll  1.135          1.096          4.579          0              0              0              57
  34  Pot             1.559          0.988          4.294          0              0              0              54
  35  Potato          1.497          0.925          1.983          0              90             0              79
  36  ButterKnife     0.124          0.771          0.563          0              0              0              53
  37  PepperShaker    1.200          1.574          0.295          0              0              0              70
  38  Pan             1.313          0.985          4.284          0              0              0              51
  39  Tomato          2.137          1.565          5.376          0              270            0              78
  40  DishSponge      0.803          0.771          0.395          0              0              0              48
  41  Cup             -0.083         0.140          0.582          0              0              0              65
  42  Spoon           0.923          0.993          0.395          0              0              0              56
  43  Mug             1.135          0.987          4.670          0              0              0              57
  44  Cabinet         1.307          2.455          4.360          0              0              0
  45  Cabinet         1.054          0.422          1.710          0              0              0
  46  Drawer          1.280          0.808          4.718          0              0              0
  47  Cabinet         1.307          2.455          3.607          0              0              0
  48  Drawer          0.736          0.802          0.521          0              0              0
  49  Drawer          1.276          0.802          3.291          0              0              0
  50  StoveBurner     1.562          0.982          3.848          0              0              0
  51  StoveBurner     1.317          0.982          4.294          0              0              0
  52  Drawer          -0.482         0.802          0.521          0              0              0
  53  Drawer          0.124          0.802          0.521          0              0              0
  54  StoveBurner     1.559          0.982          4.294          0              0              0
  55  StoveBurner     1.320          0.982          3.848          0              0              0
  56  CounterTop      1.391          1.028          0.897          0              0              0
  57  CounterTop      1.391          1.028          4.716          0              0              0
  58  Cabinet         1.054          0.422          4.548          0              0              0
  59  Cabinet         1.317          2.134          0.517          0              0              0
  60  Cabinet         1.317          2.134          4.889          0              0              0
  61  Cabinet         1.317          2.134          3.095          0              0              0
  62  Cabinet         0.443          0.422          0.743          0              0              0
  63  Cabinet         1.270          2.134          0.434          0              0              0
  64  Cabinet         -0.775         0.422          0.743          0              0              0
  65  Cabinet         -0.168         0.422          0.743          0              0              0
  66  Cabinet         1.317          2.134          1.534          0              0              0
  67  Cabinet         1.054          0.422          2.990          0              0              0
  68  Cabinet         1.054          0.422          2.944          0              0              0
  69  Cabinet         -0.263         2.134          0.434          0              0              0
  70  Cabinet         0.252          2.134          0.434          0              0              0
  71  Sink            1.391          1.006          2.326          0              0              0
  72  Microwave       0.108          0.981          0.262          0              0              0
  73  HousePlant      -0.165         0.826          6.444          0              0              0
  74  CoffeeMachine   1.551          0.982          0.953          0              270            0
  75  Toaster         1.473          0.981          4.715          0              270            0
  76  Window          -2.065         1.916          3.626          90             90             0
  77  Window          1.763          2.007          2.299          90             270            0
  78  Fridge          2.035          0.0            5.625          0              0              0
  79  SinkBasin       1.387          0.880          2.338          0              90             0
  80  GarbageCan      2.001          -0.044         6.503          0              0              0
  81  StoveKnob       1.140          0.934          3.987          45             270            0
  82  StoveKnob       1.140          0.934          4.309          45             270            0
  83  StoveKnob       1.140          0.934          4.140          45             270            0
  84  StoveKnob       1.140          0.934          3.824          45             270            0
  85  Vase            -0.226         0.834          6.993          0              0              0
  86  Vase            2.098          0.043          7.070          0              257.232        0
  87  Vase            -0.594         0.835          6.130          0              225            0
  88  LightSwitch     -2.0           1.549          6.045          0              90             0
  89  Safe            2.046          1.072          7.054          0              257.232        0
  90  Faucet          1.534          1.025          2.371          0              294.391        0
  91  Blinds          1.738          2.563          2.312          0              90             0
  92  DiningTable     -0.156         0.000          6.474          0              0              0
  93  Chair           0.291          0.002          6.142          0              310.162        0
  94  GarbageBag      -1.092         0.318          0.268          270            90             83.492
  95  NorthWall
  96  EastWall
  97  SouthWall
  98  WestWall

Plan:
STEP 1: Walk across the room, then hang a right and walk up to the fridge, turn left and walk over to the wall then turn left again and walk up to the black table. | STEP 2: Pick up the head of lettuce off of the black table. | STEP 3: Turn around and walk forward, then turn right and walk forward, turn left to face the fridge. | STEP 4: Open the fridge and put the head of lettuce inside then close the door, after a couple seconds open the fridge back up and remove the now chilled head of lettuce, then close the fridge. | STEP 5: Turn left and walk towards the wall, then turn left and walk up to the black table. | STEP 6: Put the chilled head of lettuce on the black table. | END