Task: put a chilled lettuce on a kitchen counter

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          0.900          0.25           0              90             0
   1  Pan             0.355          1.111          -0.506         0              0              0              55
   2  Vase            1.584          0.878          -2.590         0              180            0              82
   3  CreditCard      1.478          0.550          -2.718         0              180            0              85
   4  Egg             -1.989         0.083          1.885          0              270            0              86
   5  SoapBottle      -1.907         0.048          1.885          0              270            0              86
   6  SoapBottle      -1.937         0.912          -0.513         0              0              0              80
   7  SaltShaker      1.123          0.311          -2.286         0              0              0              59
   8  PepperShaker    -0.840         1.652          -2.640         0              0              0              69
   9  Lettuce         -0.848         0.991          -2.406         0              0              0              80
  10  Lettuce         -1.290         0.991          -2.637         0              0              0              80
  11  Knife           0.453          0.936          -2.560         0              180            0              57
  12  Mug             -2.080         0.535          0.837          0              90             0              88
  13  Mug             -2.080         0.535          1.251          0              90             0              88
  14  Pot             -0.465         0.950          -2.576         0              90             0              64
  15  Pot             -2.081         1.507          1.008          0              90             0              88
  16  Glassbottle     -1.013         1.657          -2.640         0              0              0              69
  17  Glassbottle     -1.200         0.137          -2.503         0              0              0              73
  18  WineBottle      1.993          0.881          -2.509         0              180            0              82
  19  Bowl            -1.457         1.654          -2.567         0              0              0              71
  20  Book            -0.197         1.110          0.251          0              0              0              55
  21  Glassbottle     -1.852         0.770          -1.414         0              90             0              90
  22  Knife           -0.335         1.136          -0.506         0              0              0              55
  23  Bread           0.582          0.983          -2.330         0              0              0              57
  24  Fork            0.355          1.112          -0.253         0              0              0              55
  25  Potato          -0.070         1.820          -2.514         0              0              0              81
  26  SoapBottle      -1.907         0.048          2.124          0              270            0              86
  27  Kettle          1.037          0.9            -2.596         0              0              0              57
  28  Pan             -0.036         0.950          -2.372         0              270            0              50
  29  Plate           0.217          1.108          0.757          0              0              0              55
  30  Tomato          -2.018         0.808          -1.501         0              90             0              90
  31  Vase            1.098          0.912          -2.330         0              0              0              57
  32  Egg             -1.935         0.083          1.981          0              270            0              86
  33  CreditCard      1.121          0.139          -2.286         0              0              0              75
  34  Statue          1.955          0.168          -2.543         0              0              0              87
  35  WineBottle      -0.473         1.112          0.757          0              0              0              55
  36  Pot             -2.026         1.310          1.260          0              90             0              88
  37  Spatula         1.007          0.157          -2.286         0              270            0              75
  38  PaperTowelRoll  1.686          0.985          -2.509         0              180            0              82
  39  Cup             1.119          1.658          -2.673         0              0              0              77
  40  Vase            -2.019         0.909          -2.256         0              0              0              80
  41  Bowl            -1.765         0.126          0.203          0              90             0              61
  42  SaltShaker      1.478          0.549          -2.614         0              180            0              85
  43  PepperShaker    0.951          0.311          -2.238         0              0              0              59
  44  Lettuce         -1.438         0.991          -2.406         0              0              0              80
  45  ButterKnife     -1.908         0.769          -1.587         0              90             0              90
  46  Apple           0.582          0.961          -2.637         0              0              0              57
  47  DishSponge      0.892          0.142          -2.431         0              0              0              75
  48  Spoon           0.893          0.482          -2.380         0              0              0              63
  49  Mug             -1.731         0.956          -0.168         0              90             0              89
  50  StoveBurner     -0.036         0.915          -2.372         0              0              0
  51  Drawer          0.949          0.832          -2.197         0              0              0
  52  Drawer          -1.560         0.839          0.204          0              90             0
  53  StoveBurner     -0.465         0.915          -2.371         0              180            0
  54  Drawer          -1.560         0.839          -0.197         0              90             0
  55  CounterTop      -0.079         1.147          -0.001         0              0              0
  56  Cabinet         -1.549         0.494          -1.964         0              90             0
  57  CounterTop      0.693          0.946          -2.483         0              0              0
  58  StoveBurner     -0.036         0.915          -2.576         0              0              0
  59  Drawer          0.949          0.393          -2.200         0              0              0
  60  Drawer          0.949          0.708          -2.200         0              0              0
  61  Cabinet         -1.549         0.494          0.379          0              90             0
  62  StoveKnob       -0.022         0.881          -2.187         45             0              0
  63  Drawer          0.949          0.560          -2.201         0              0              0
  64  StoveBurner     -0.465         0.915          -2.575         0              180            0
  65  Window          -2.230         1.429          -1.203         0              0              0
  66  StoveKnob       -0.483         0.881          -2.187         45             0              0
  67  Sink            -1.899         0.964          -1.5           0              90             0
  68  StoveKnob       -0.328         0.881          -2.187         45             0              0
  69  Cabinet         -0.727         2.015          -2.460         0              0              0
  70  Drawer          -1.560         0.655          -0.196         0              90             0
  71  Cabinet         -1.685         2.015          -2.461         0              0              0
  72  Cabinet         0.680          0.494          -2.200         0              0              0
  73  Cabinet         -1.179         0.494          -2.200         0              0              0
  74  Cabinet         -1.849         2.015          0.379          0              90             0
  75  Drawer          0.949          0.221          -2.200         0              0              0
  76  StoveKnob       -0.183         0.881          -2.187         45             0              0
  77  Cabinet         0.719          2.015          -2.460         0              0              0
  78  Drawer          -1.560         0.331          -0.196         0              90             0
  79  Cabinet         0.680          2.015          -2.460         0              0              0
  80  CounterTop      -1.868         0.946          -1.205         0              0              0
  81  Microwave       -0.236         1.689          -2.525         0              0              0
  82  Shelf           1.751          0.880          -2.560         0              0              0
  83  HousePlant      -1.948         0.889          -2.520         0              5.334          0
  84  Toaster         -1.835         0.900          0.134          0              90             0
  85  Shelf           1.750          0.552          -2.559         0              0              0
  86  GarbageCan      -1.935         -0.002         2.029          0              270            0
  87  Shelf           1.750          0.172          -2.559         0              0              0
  88  Fridge          -2.096         0.0            1.088          0              0              0
  89  CoffeeMachine   -1.977         0.900          -0.188         0              90             0
  90  SinkBasin       -1.908         0.759          -1.488         0              90             0
  91  LightSwitch     2.329          1.309          -0.159         0              270            0
  92  ShelvingUnit    1.750          0.006          -2.559         0              0              0
  93  Stool           0.702          0.000          -0.514         1.202          65.108         0
  94  Stool           0.743          0.000          0.563          1.227          106.706        0
  95  Faucet          -2.070         1.132          -1.514         0              0              0
  96  NorthWall
  97  EastWall
  98  SouthWall
  99  WestWall

Plan:
STEP 1: walk to the right in the kitchen to face the counter to the right of the stove | STEP 2: pick up the green lettuce on the right side from the counter | STEP 3: walk to the right to face the fridge | STEP 4: open the fridge door, place the lettuce in the fridge shelf, close the door, wait for lettuce to chill, open the fridge door, pick up the lettuce and close the door | STEP 5: walk left to face the sink and counter to the left of the sink | STEP 6: place the lettuce on the counter top to the left of the sink | END