Task: chill a head of lettuce to put on the counter

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -2.5           0.900          -0.5           0              180            0
   1  DishSponge      -0.066         0.773          0.338          0              0              0              60
   2  ButterKnife     -0.267         0.912          -1.737         0              0              0              54
   3  ButterKnife     0.649          0.919          -1.649         0              270            0              52
   4  Pot             1.007          0.962          0.561          0              270            0              56
   5  Fork            -1.791         0.952          0.524          0              90             0              87
   6  Spoon           1.891          0.775          0.339          0              270            0              55
   7  Spatula         -1.928         0.967          0.435          0              90             0              87
   8  Egg             -2.135         1.527          -1.634         0              0              0              84
   9  Egg             0.341          0.818          -1.648         0              270            0              77
  10  Cup             0.021          0.104          0.281          0              0              0              64
  11  Cup             -1.872         0.509          -1.677         0              0              0              84
  12  SoapBottle      0.271          0.107          -1.584         0              180            0              51
  13  SoapBottle      -0.329         0.068          0.439          0              90             0              83
  14  Tomato          -0.362         0.119          0.612          0              90             0              83
  15  Tomato          -2.614         1.001          0.704          0              90             0              87
  16  SaltShaker      -2.203         0.948          0.614          0              90             0              87
  17  SaltShaker      -1.928         0.948          0.614          0              90             0              87
  18  PepperShaker    1.658          0.908          -1.737         0              0              0              54
  19  PepperShaker    -0.249         0.107          -1.508         0              0              0              63
  20  Bread           -0.451         0.995          -1.737         0              0              0              54
  21  Lettuce         -1.791         1.042          0.255          0              90             0              87
  22  Mug             -0.923         1.010          -1.704         0              90             0              76
  23  Apple           -2.135         1.118          -1.677         0              0              0              84
  24  Apple           -0.923         1.082          -1.803         0              0              0              76
  25  Bread           1.299          0.978          -1.532         0              0              0              54
  26  Knife           -2.065         0.977          0.165          0              180            0              87
  27  Fork            0.960          0.920          -1.649         0              90             0              52
  28  Bowl            -0.359         0.911          -1.489         0              0              0              54
  29  Kettle          -0.055         0.9            0.643          0              0              0              53
  30  Cup             0.021          0.104          0.397          0              0              0              64
  31  Tomato          -0.175         0.961          -1.820         0              0              0              54
  32  SoapBottle      0.960          0.918          -1.516         0              270            0              52
  33  Plate           -2.31          0.781          -1.720         0              0              0              84
  34  Pot             1.361          0.962          0.561          0              270            0              59
  35  Spatula         1.658          0.927          -1.737         0              0              0              54
  36  PaperTowelRoll  -2.340         1.056          0.435          0              90             0              87
  37  Egg             0.649          0.954          -1.516         0              270            0              52
  38  Lettuce         -2.065         1.042          0.255          0              90             0              87
  39  SaltShaker      -0.586         0.107          -1.619         0              0              0              68
  40  PepperShaker    -2.203         0.948          0.704          0              90             0              87
  41  Apple           -2.222         1.559          -1.763         0              0              0              84
  42  ButterKnife     -2.065         0.952          0.524          0              90             0              87
  43  Potato          -2.047         0.541          -1.677         0              0              0              84
  44  Pan             1.022          0.959          0.288          0              219.190        0              66
  45  DishSponge      -0.082         0.911          -1.406         0              0              0              54
  46  Spoon           0.377          0.777          -1.552         0              270            0              77
  47  Mug             1.828          1.323          -1.772         0              180            0              70
  48  Cabinet         -0.193         1.688          -1.648         0              180            0
  49  StoveBurner     1.360          0.957          0.293          0              180            0
  50  Drawer          0.499          0.792          0.296          0              0              0
  51  Cabinet         0.095          0.400          -1.352         0              180            0
  52  Sink            0.711          0.817          -1.772         0              270            0
  53  CounterTop      0.280          0.947          0.458          0              0              0
  54  CounterTop      -0.680         0.947          -1.654         0              0              0
  55  Drawer          1.825          0.792          0.296          0              0              0
  56  StoveBurner     1.007          0.957          0.561          0              270            0
  57  Drawer          -0.150         0.792          -1.496         0              0              0
  58  Drawer          -0.586         0.792          -1.496         0              0              0
  59  StoveBurner     1.360          0.957          0.561          0              270            0
  60  Drawer          0.024          0.792          0.296          0              0              0
  61  Cabinet         1.079          0.400          -1.349         0              180            0
  62  Cabinet         1.669          0.402          0.151          0              0              0
  63  Cabinet         0.055          0.402          -1.351         0              0              0
  64  Cabinet         -0.180         0.402          0.151          0              0              0
  65  Cabinet         0.729          0.402          0.151          0              0              0
  66  StoveBurner     1.007          0.957          0.293          0              180            0
  67  Drawer          -1.100         0.792          -1.496         0              0              0
  68  Cabinet         -0.396         0.402          -1.351         0              0              0
  69  CounterTop      1.776          0.947          0.458          0              0              0
  70  Cabinet         1.974          1.688          -1.648         0              180            0
  71  Cabinet         -0.820         0.400          -1.349         0              180            0
  72  Toaster         0.305          0.900          0.552          0              180            0
  73  LightSwitch     -2.756         1.307          -0.987         0              90             0
  74  Window          0.582          1.613          -1.967         90             0              0
  75  Window          1.969          1.5            -0.615         90             270            0
  76  Microwave       -1.037         0.900          -1.723         0              0              0
  77  SinkBasin       0.377          0.765          -1.655         0              270            0
  78  CoffeeMachine   0.618          0.900          0.600          0              180            0
  79  StoveKnob       1.246          0.913          0.118          45             180            0
  80  StoveKnob       1.373          0.913          0.118          45             180            0
  81  StoveKnob       0.995          0.913          0.118          45             180            0
  82  StoveKnob       1.126          0.913          0.118          45             180            0
  83  GarbageCan      -0.368         -0.029         0.539          0              90             0
  84  Fridge          -2.134         0.0            -1.690         0              0              0
  85  Faucet          0.549          1.046          -1.833         0              232.527        0
  86  Stool           -1.475         0.000          0.414          1.233          280.375        0
  87  DiningTable     -2.255         -0.004         0.432          0              0              0
  88  NorthWall
  89  EastWall
  90  SouthWall
  91  WestWall

Plan:
STEP 1: turn left, take a few steps, turn left to face the table | STEP 2: pick up a head of lettuce that is on the table | STEP 3: turn left, walk to door, turn left, walk to fridge | STEP 4: open fridge, put lettuce in, close fridge, wait a few moments, take lettuce back out of fridge | STEP 5: turn left, walk forward, turn left, walk to the counter with toaster on it | STEP 6: put lettuce on the counter | END