Task: put a chilled lettuce on a table top

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -2.0           0.914          1.25           0              0              0
   1  Potato          -3.568         1.578          2.068          0              90             0              72
   2  Potato          -1.391         0.923          0.564          0              90             0              77
   3  ButterKnife     -3.368         0.915          1.273          0              0              0              50
   4  WineBottle      -2.718         0.081          3.586          0              0              0              53
   5  WineBottle      -1.129         0.087          3.852          0              270            0              73
   6  Kettle          -1.787         0.892          0.358          0              90             0              77
   7  Pot             -3.424         0.966          1.971          0              0              0              49
   8  Egg             -2.503         0.950          3.783          0              0              0              41
   9  Egg             -1.921         0.824          3.737          0              0              0              71
  10  Cup             -3.176         0.915          1.440          0              0              0              50
  11  Knife           -1.259         0.915          0.049          0              90             0              77
  12  Knife           -1.391         0.915          0.152          0              180            0              77
  13  Tomato          -0.206         1.054          3.801          0              180            0              67
  14  SaltShaker      -3.113         0.079          1.513          0              0              0              60
  15  PepperShaker    -1.259         0.887          0.358          0              90             0              77
  16  PepperShaker    -3.081         0.912          1.273          0              0              0              50
  17  Lettuce         -1.523         0.977          -0.053         0              90             0              77
  18  Egg             -1.666         0.824          3.662          0              0              0              71
  19  Knife           -1.418         0.939          3.783          0              90             0              41
  20  Fork            -1.729         0.790          3.7            0              90             0              71
  21  Bread           -0.556         1.067          3.863          0              180            0              67
  22  Potato          -0.089         1.018          4.051          0              180            0              67
  23  Plate           -3.156         0.085          2.920          0              0              0              54
  24  Pot             -3.424         0.966          2.374          0              0              0              47
  25  Kettle          -3.143         0.966          1.971          0              0              0              61
  26  WineBottle      -0.994         0.892          0.358          0              90             0              77
  27  Bowl            -0.790         0.985          3.926          0              180            0              67
  28  Tomato          -1.224         0.156          3.756          0              270            0              73
  29  Cup             -3.176         0.915          1.106          0              0              0              50
  30  Spatula         -1.523         0.906          0.152          0              90             0              77
  31  SoapBottle      -1.259         0.891          0.564          0              90             0              77
  32  Lettuce         -3.463         1.001          1.273          0              0              0              50
  33  Pan             -2.614         0.902          3.620          0              0              0              41
  34  Apple           -1.127         0.951          0.461          0              90             0              77
  35  SaltShaker      -2.881         0.076          3.701          0              0              0              53
  36  PepperShaker    -3.425         1.990          2.054          0              0              0              55
  37  ButterKnife     -1.523         0.891          0.049          0              90             0              77
  38  DishSponge      -3.368         0.915          1.440          0              0              0              50
  39  Spoon           -1.857         0.790          3.737          0              180            0              71
  40  Mug             -3.424         0.945          3.275          0              90             0              41
  41  CounterTop      -3.381         0.950          3.335          0              0              0
  42  Drawer          -3.121         0.775          1.357          0              0              0
  43  Drawer          -3.121         0.777          2.916          0              0              0
  44  StoveBurner     -3.148         0.958          2.374          0              0              0
  45  Sink            -1.797         0.917          3.660          0              0              0
  46  Cabinet         -1.421         0.388          3.459          0              0              0
  47  StoveBurner     -3.424         0.958          2.374          0              0              0
  48  Cabinet         -3.365         1.931          2.676          0              0              0
  49  StoveBurner     -3.424         0.958          1.971          0              0              0
  50  CounterTop      -3.381         0.951          1.356          0              0              0
  51  Drawer          -3.121         0.781          3.295          0              0              0
  52  Cabinet         -2.205         0.388          3.459          0              0              0
  53  Cabinet         -2.963         0.388          3.459          0              0              0
  54  Cabinet         -2.992         0.388          2.683          0              0              0
  55  Cabinet         -3.352         2.205          1.715          0              0              0
  56  Cabinet         -3.352         2.205          2.653          0              0              0
  57  Cabinet         -2.189         0.388          3.466          0              0              0
  58  Cabinet         -3.365         1.931          3.963          0              0              0
  59  Cabinet         -3.365         1.931          1.056          0              0              0
  60  Cabinet         -2.992         0.388          1.037          0              0              0
  61  StoveBurner     -3.143         0.958          1.971          0              0              0
  62  StoveKnob       -3.599         1.110          2.017          0              0              105.000
  63  StoveKnob       -3.599         1.110          1.867          0              0              105.000
  64  StoveKnob       -3.599         1.110          2.267          0              0              105.000
  65  StoveKnob       -3.599         1.110          2.427          0              0              105.000
  66  Toaster         -2.654         0.902          4.064          0              180            0
  67  Fridge          -0.439         0.014          3.996          0              0              0
  68  LightSwitch     0.25           1.383          2.085          0              270            0
  69  Window          -1.430         1.338          -0.347         90             0              0
  70  CoffeeMachine   -3.550         0.902          3.274          0              90             0
  71  SinkBasin       -1.802         0.778          3.700          0              0              0
  72  Microwave       -3.484         1.430          2.182          0              90             0
  73  GarbageCan      -1.184         -0.020         3.794          0              270            0
  74  Blinds          -1.404         2.092          -0.296         0              0              0
  75  Stool           -1.373         0.014          1.048          1.214          20.754         0
  76  Faucet          -1.788         0.903          3.931          270            90             0
  77  DiningTable     -1.399         0.010          0.238          0              0              0
  78  GarbageBag      -0.291         0.336          -0.034         272.372        348.812        147.313
  79  NorthWall
  80  EastWall
  81  SouthWall
  82  WestWall

Plan:
STEP 1: walk to face right side of rectangular table | STEP 2: pick up lettuce from table | STEP 3: walk to face fridge | STEP 4: chill lettuce in fridge, remove lettuce from fridge | STEP 5: walk to face left side of rectangular table | STEP 6: put lettuce on table top | END