Task: Retrieve two heads of lettuce, place on top shelf of fridge

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.0            0.914          2.0            0              0              0
   1  DishSponge      -3.155         0.745          1.202          0              0              0              47
   2  ButterKnife     -3.272         0.915          3.499          0              0              0              46
   3  WineBottle      -3.508         1.460          2.998          0              0              0              53
   4  WineBottle      -3.176         0.916          1.106          0              0              0              55
   5  Kettle          -3.424         0.966          1.971          0              0              0              54
   6  Spatula         -3.368         0.930          2.844          0              0              0              46
   7  Fork            -1.259         0.892          0.461          0              180            0              82
   8  Fork            -1.523         0.892          0.152          0              90             0              82
   9  Egg             -0.556         0.758          3.790          0              180            0              72
  10  Egg             -1.256         0.122          3.884          0              270            0              78
  11  Cup             -2.402         0.915          3.675          0              0              0              46
  12  Cup             -3.458         1.994          1.835          0              0              0              60
  13  Tomato          -1.391         0.960          0.255          0              90             0              82
  14  SoapBottle      -1.787         0.891          0.255          0              90             0              82
  15  SaltShaker      -3.097         0.741          1.433          0              0              0              47
  16  PepperShaker    -1.259         0.887          0.152          0              90             0              82
  17  PepperShaker    -1.655         0.887          0.049          0              90             0              82
  18  Lettuce         -2.302         1.001          4.106          0              0              0              46
  19  Bread           -1.919         0.996          4.188          0              0              0              46
  20  Mug             -3.537         1.541          2.068          0              90             0              77
  21  Mug             -0.673         1.268          4.097          0              180            0              72
  22  Apple           -0.994         0.951          0.461          0              90             0              82
  23  Egg             -3.410         1.563          2.276          0              90             0              77
  24  Knife           -3.215         0.770          2.861          0              90             0              48
  25  Fork            -3.368         0.916          1.189          0              180            0              55
  26  Bread           -3.463         0.997          1.357          0              0              0              55
  27  Potato          -1.793         0.821          3.625          0              0              0              76
  28  Plate           -3.005         0.904          3.677          0              0              0              46
  29  Pot             -3.144         0.963          2.374          0              0              0              49
  30  Kettle          -2.800         0.081          3.624          0              0              0              58
  31  WineBottle      -3.654         0.916          1.357          0              0              0              55
  32  Bowl            -1.655         0.890          0.461          0              90             0              82
  33  Tomato          -0.556         1.054          3.926          0              180            0              72
  34  Cup             -3.152         0.083          1.356          0              0              0              65
  35  Spatula         -1.787         0.906          0.358          0              90             0              82
  36  SoapBottle      -1.655         0.891          0.255          0              90             0              82
  37  Lettuce         -0.994         0.977          0.152          0              90             0              82
  38  Pan             -2.614         0.902          3.620          0              0              0              46
  39  Apple           -1.224         0.146          3.788          0              270            0              78
  40  SaltShaker      -1.127         0.887          0.564          0              90             0              82
  41  PepperShaker    -1.787         0.887          0.152          0              90             0              82
  42  ButterKnife     -1.127         0.891          0.049          0              90             0              82
  43  DishSponge      -3.475         1.458          3.224          0              0              0              53
  44  Spoon           -3.272         0.916          3.172          0              90             0              46
  45  Mug             -1.602         0.784          3.662          0              0              0              76
  46  CounterTop      -3.381         0.950          3.335          0              0              0
  47  Drawer          -3.121         0.775          1.357          0              0              0
  48  Drawer          -3.121         0.777          2.916          0              0              0
  49  StoveBurner     -3.148         0.958          2.374          0              0              0
  50  Sink            -1.797         0.917          3.660          0              0              0
  51  Cabinet         -1.421         0.388          3.459          0              0              0
  52  StoveBurner     -3.424         0.958          2.374          0              0              0
  53  Cabinet         -3.365         1.931          2.676          0              0              0
  54  StoveBurner     -3.424         0.958          1.971          0              0              0
  55  CounterTop      -3.381         0.951          1.356          0              0              0
  56  Drawer          -3.121         0.781          3.295          0              0              0
  57  Cabinet         -2.205         0.388          3.459          0              0              0
  58  Cabinet         -2.963         0.388          3.459          0              0              0
  59  Cabinet         -2.992         0.388          2.683          0              0              0
  60  Cabinet         -3.352         2.205          1.715          0              0              0
  61  Cabinet         -3.352         2.205          2.653          0              0              0
  62  Cabinet         -2.189         0.388          3.466          0              0              0
  63  Cabinet         -3.365         1.931          3.963          0              0              0
  64  Cabinet         -3.365         1.931          1.056          0              0              0
  65  Cabinet         -2.992         0.388          1.037          0              0              0
  66  StoveBurner     -3.143         0.958          1.971          0              0              0
  67  StoveKnob       -3.599         1.110          2.017          0              0              105.000
  68  StoveKnob       -3.599         1.110          1.867          0              0              105.000
  69  StoveKnob       -3.599         1.110          2.267          0              0              105.000
  70  StoveKnob       -3.599         1.110          2.427          0              0              105.000
  71  Toaster         -2.654         0.902          4.064          0              180            0
  72  Fridge          -0.439         0.014          3.996          0              0              0
  73  LightSwitch     0.25           1.383          2.085          0              270            0
  74  Window          -1.430         1.338          -0.347         90             0              0
  75  CoffeeMachine   -3.550         0.902          3.274          0              90             0
  76  SinkBasin       -1.802         0.778          3.700          0              0              0
  77  Microwave       -3.484         1.430          2.182          0              90             0
  78  GarbageCan      -1.184         -0.020         3.794          0              270            0
  79  Blinds          -1.404         2.092          -0.296         0              0              0
  80  Stool           -1.373         0.014          1.048          1.214          20.754         0
  81  Faucet          -1.788         0.903          3.931          270            90             0
  82  DiningTable     -1.399         0.010          0.238          0              0              0
  83  GarbageBag      -0.291         0.336          -0.034         272.372        348.812        147.313
  84  NorthWall
  85  EastWall
  86  SouthWall
  87  WestWall

Plan:
STEP 1: Turn right walk towards sink | STEP 2: Pick up lettuce from counter | STEP 3: Turn right, walk to fridge | STEP 4: Put lettuce on top shelf of fridge | STEP 5: Turn around, walk to table | STEP 6: Pick up lettuce from table | STEP 7: Turn around, walk to fridge | STEP 8: Put lettuce on top shelf of fridge | END