Task: Put a chilled head of lettuce on a table

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            0.869          -3.25          0              180            0
   1  DishSponge      0.720          0.760          -0.061         0              0              0              35
   2  ButterKnife     0.803          0.883          -0.245         0              0              0              36
   3  ButterKnife     -1.886         0.701          -1.091         0              0              0              72
   4  Spatula         -1.578         0.711          -3.782         0              90             0              63
   5  Spoon           0.781          0.666          0.326          0              0              0              41
   6  Pot             -2.097         0.930          0.785          0              0              0              38
   7  Cup             0.661          0.663          0.630          0              0              0              41
   8  Cup             0.901          0.663          0.569          0              0              0              41
   9  SoapBottle      -1.187         0.051          -3.611         0              270            0              51
  10  Bowl            0.903          1.462          -0.207         0              0              0              47
  11  PepperShaker    0.842          0.012          0.076          0              0              0              46
  12  Apple           0.672          0.826          -0.570         0              270            0              59
  13  Apple           0.799          0.826          -0.680         0              270            0              59
  14  Pot             -1.555         0.930          1.049          0              0              0              45
  15  Plate           -2.023         0.692          -1.447         0              0              0              72
  16  Fork            0.841          0.665          0.569          0              0              0              41
  17  SoapBottle      0.661          0.664          0.387          0              0              0              41
  18  Apple           1.040          0.937          -0.913         0              0              0              36
  19  Pan             0.740          -0.007         -0.596         0              0              0              39
  20  Egg             0.630          0.502          -1.957         0              270            0              56
  21  Spatula         0.672          0.787          -0.845         0              180            0              59
  22  Potato          -1.578         0.729          -3.445         0              0              0              63
  23  Cup             0.661          0.664          0.508          0              0              0              41
  24  SaltShaker      -2.137         0.698          -0.875         0              0              0              72
  25  PepperShaker    0.994          1.460          0.411          0              0              0              48
  26  ButterKnife     -1.719         0.701          -1.524         0              0              0              72
  27  DishSponge      -1.334         0.051          -3.611         0              270            0              51
  28  Bread           -0.873         0.931          0.978          0              24.231         0              62
  29  Lettuce         0.149          0.987          1.187          0              270            0              62
  30  Tomato          0.785          1.207          -1.802         0              270            0              56
  31  Spoon           -0.654         0.901          0.843          0              270            0              62
  32  Knife           -1.535         0.723          -3.529         0              90             0              63
  33  Mug             0.785          0.460          -1.725         0              270            0              56
  34  Bowl            0.149          0.899          0.843          0              270            0              62
  35  Drawer          0.706          0.766          -0.125         0              0              0
  36  CounterTop      0.792          0.919          -0.108         0              0              0
  37  Mirror          1.093          1.602          -0.643         0              0              0
  38  StoveBurner     -2.096         0.890          0.785          0              0              0
  39  Cabinet         0.507          0.345          -0.426         0              0              0
  40  StoveBurner     -1.552         0.890          0.785          0              0              0
  41  SideTable       0.770          -0.030         0.443          0              0              0
  42  Sink            0.753          0.882          -0.680         0              0              0
  43  StoveBurner     -2.096         0.890          1.049          0              0              0
  44  GarbageBag      -0.770         0.287          -3.541         270            73.521         83.489
  45  StoveBurner     -1.554         0.890          1.049          0              0              0
  46  Cabinet         0.507          0.345          0.156          0              0              0
  47  Cabinet         0.717          1.822          -0.398         0              0              0
  48  Cabinet         0.717          1.822          0.669          0              0              0
  49  CoffeeMachine   0.873          0.865          -1.256         0              270            0
  50  Toaster         -0.522         0.886          1.081          0              180            0
  51  GarbageCan      -1.261         -0.031         -3.610         0              270            0
  52  StoveKnob       -1.898         0.866          0.519          311.864        0              180
  53  StoveKnob       -1.754         0.866          0.519          311.864        0              180
  54  StoveKnob       -2.058         0.866          0.519          311.864        0              180
  55  StoveKnob       -1.600         0.866          0.519          311.864        0              180
  56  Fridge          0.680          -0.031         -1.957         0              0              0
  57  Window          -2.424         1.639          -2.453         90             270            0
  58  Microwave       -1.994         0.690          -3.651         0              0              0
  59  SinkBasin       0.757          0.762          -0.688         0              270            0
  60  LightSwitch     1.102          1.368          -3.737         0              270            0
  61  Shelf           -0.350         0.124          0.857          0              0              0
  62  DiningTable     -0.350         -0.025         0.857          0              0              0
  63  DiningTable     -1.909         -0.032         -3.507         0              0              0
  64  Blinds          -2.343         2.151          -2.437         0              270            0
  65  AluminumFoil    0.762          0.224          0.337          0              184.594        0
  66  AluminumFoil    0.751          0.225          0.287          0              0              0
  67  AluminumFoil    0.839          0.224          0.392          0              195.128        0
  68  Shelf           0.771          0.226          0.445          0              0              0
  69  Shelf           0.771          0.456          0.446          0              0              0
  70  Faucet          1.025          0.873          -0.678         270            180            0
  71  Shelf           -0.350         0.497          0.857          0              0              0
  72  DiningTable     -1.929         -0.035         -1.398         0              90             0
  73  Chair           -1.610         -0.024         -1.424         358.454        297.426        0
  74  NorthWall
  75  EastWall
  76  SouthWall
  77  WestWall

Plan:
STEP 1: Turn right and then turn right and go just past the fridge then turn right then a quick left and go past the counter to the table | STEP 2: Pick up the lettuce from the table | STEP 3: Turn left then take a quick left and go to the fridge | STEP 4: Put the lettuce in the fridge to chill then take the lettuce out of the fridge | STEP 5: Turn left then take a quick left and go to the table | STEP 6: Put the lettuce in the center of the table | END