Task: To chill a head of lettuce and place in the waste basket.

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           0.901          0.75           0              90             0
   1  ButterKnife     -0.272         0.791          1.386          0              0              0              76
   2  Pot             0.708          0.081          2.523          0              90             0              56
   3  Spatula         1.837          0.760          0.652          0              270            0              58
   4  Spatula         -0.349         0.805          0.881          0              90             0              76
   5  Spoon           -0.196         0.792          1.217          0              0              0              76
   6  Fork            -0.042         0.782          0.713          0              0              0              76
   7  Egg             -0.261         1.078          1.961          0              90             0              74
   8  Egg             -0.349         0.833          0.713          0              0              0              76
   9  Cup             2.079          0.600          -0.369         0              270            0              70
  10  Knife           -0.042         0.816          1.386          0              0              0              76
  11  Knife           0.002          0.771          1.925          0              90             0              48
  12  Bowl            -0.042         0.787          1.049          0              0              0              76
  13  Bowl            2.203          1.500          0.695          0              0              0              57
  14  PepperShaker    -0.425         0.785          0.881          0              0              0              76
  15  PepperShaker    -0.042         0.785          0.881          0              0              0              76
  16  Mug             2.223          1.318          -0.007         0              270            0              70
  17  Apple           2.024          1.569          -0.188         0              270            0              70
  18  Egg             1.556          0.980          2.511          0              0              0              49
  19  Lettuce         0.033          0.852          1.217          0              0              0              76
  20  Fork            -0.282         0.938          2.827          0              0              0              49
  21  SoapBottle      -0.196         0.791          0.545          0              0              0              76
  22  Ladle           1.989          0.791          2.197          0              270            0              64
  23  Ladle           -0.096         0.942          2.546          6.888          45             340.409        49
  24  Bread           -0.201         0.825          0.812          0              0              0              76
  25  SaltShaker      0.033          0.785          0.377          0              0              0              76
  26  Potato          1.673          0.977          2.666          0              0              0              49
  27  Pan             2.140          0.935          1.504          0              180            0              44
  28  WineBottle      0.034          0.938          2.451          0              0              0              49
  29  Spatula         1.906          0.760          0.721          0              270            0              58
  30  Knife           1.919          0.771          1.922          0              90             0              64
  31  Tomato          2.231          1.565          -0.369         0              270            0              70
  32  Apple           0.060          0.987          2.618          0              0              0              49
  33  ButterKnife     1.660          0.926          2.473          0              352.515        0              49
  34  Pot             1.854          0.937          1.497          0              0              0              53
  35  PepperShaker    1.805          1.498          2.919          0              180            0              50
  36  Cup             0.033          0.789          0.545          0              0              0              76
  37  DishSponge      1.170          0.794          2.584          0              0              0              73
  38  Plate           1.925          0.086          2.057          0              0              0              45
  39  Spoon           -0.119         0.792          0.377          0              0              0              76
  40  Mug             2.244          1.496          2.425          0              0              0              42
  41  Bowl            2.023          0.335          -0.188         0              270            0              70
  42  Cabinet         2.041          2.113          2.618          0              0              0
  43  Cabinet         0.126          0.388          1.774          0              0              0
  44  StoveBurner     2.140          0.929          1.504          0              180            0
  45  Cabinet         1.760          0.388          2.346          0              0              0
  46  Cabinet         1.760          0.388          0.869          0              0              0
  47  Cabinet         2.041          1.810          0.283          0              0              0
  48  Drawer          -0.024         0.774          2.061          0              0              0
  49  CounterTop      1.065          0.973          2.666          0              0              0
  50  Cabinet         1.969          2.113          2.618          0              0              0
  51  StoveBurner     2.140          0.929          1.106          0              0              0
  52  Cabinet         2.041          2.113          1.809          0              0              0
  53  StoveBurner     1.866          0.929          1.504          0              180            0
  54  Cabinet         2.041          2.113          1.766          0              0              0
  55  Cabinet         1.514          0.388          2.360          0              0              0
  56  Cabinet         0.351          0.388          2.360          0              0              0
  57  Cabinet         2.041          1.810          0.872          0              0              0
  58  Drawer          2.167          0.774          0.582          0              0              0
  59  Cabinet         2.041          2.113          0.892          0              0              0
  60  CounterTop      2.060          0.973          0.583          0              0              0
  61  Sink            0.935          0.936          2.646          0              0              0
  62  Curtains        0.964          2.061          2.989          0              0              0
  63  StoveBurner     1.863          0.929          1.106          0              0              0
  64  Drawer          1.911          0.774          2.060          0              0              0
  65  StoveKnob       2.326          1.092          1.610          288.013        90             0
  66  StoveKnob       2.326          1.092          1.460          288.013        90             0
  67  StoveKnob       2.326          1.092          1.210          288.013        90             0
  68  StoveKnob       2.326          1.092          1.050          288.013        90             0
  69  Toaster         2.126          0.926          0.572          0              270            0
  70  Fridge          2.104          0.0            -0.279         0              270            0
  71  GarbageCan      -0.309         -0.001         -0.807         0              91.471         0
  72  LightSwitch     0.354          1.518          -1.031         0              0              0
  73  SinkBasin       0.903          0.784          2.640          0              0              0
  74  Microwave       -0.310         0.926          2.077          0              90             0
  75  CoffeeMachine   2.084          0.927          2.667          0              225            0
  76  DiningTable     -0.153         -0.000         1.073          0              270            0
  77  Faucet          1.175          0.926          2.950          270            90             0
  78  Faucet          0.686          0.926          2.950          270            90             0
  79  Chair           -0.077         0.002          0.196          0              15.000         0
  80  NorthWall
  81  EastWall
  82  SouthWall
  83  WestWall

Plan:
STEP 1: Turn around and walk to the white table.  | STEP 2: Pick up the head of lettuce from the white table.  | STEP 3: Turn around and walk to the fridge on the right.  | STEP 4: Open the fridge door, place the lettuce on the second shelf, close the door, open the door, take the lettuce out of the fridge, and close the door.  | STEP 5: Turn around and face the waste basket to the left of the table.  | STEP 6: Put the lettuce inside of the waste bin.  | END