Task: chill a head of lettuce in the fridge

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.25          0.900          3.75           0              0              0
   1  Pan             1.559          0.988          4.294          0              0              0              60
   2  Potato          -0.221         0.794          6.323          0              0              0              98
   3  Potato          2.094          1.550          5.251          0              270            0              84
   4  DishSponge      0.028          0.759          6.323          0              0              0              98
   5  ButterKnife     0.735          0.772          0.507          0              0              0              54
   6  Kettle          1.32           0.988          3.848          0              0              0              61
   7  Kettle          1.317          0.988          4.294          0              0              0              57
   8  Spoon           1.225          0.993          1.122          0              270            0              62
   9  Spatula         -0.467         0.775          6.541          0              270            0              98
  10  Spatula         1.442          0.905          2.239          0              0              0              85
  11  Plate           0.958          1.580          0.251          0              0              0              69
  12  Plate           0.124          0.144          0.506          0              0              0              71
  13  Knife           1.348          0.801          3.360          0              0              0              55
  14  Knife           0.192          0.801          0.507          0              0              0              59
  15  Tomato          2.009          1.565          5.501          0              270            0              84
  16  Tomato          -0.620         0.809          6.674          0              135            0              98
  17  SoapBottle      -0.134         1.579          0.119          0              0              0              75
  18  SoapBottle      2.104          0.080          6.498          0              0              0              86
  19  Bowl            1.533          2.206          3.747          0              0              0              53
  20  Bowl            -0.687         0.991          0.303          0              0              0              62
  21  SaltShaker      0.305          0.755          6.354          0              270            0              98
  22  Bread           -0.159         0.829          6.787          0              0              0              98
  23  Mug             1.384          1.043          0.847          0              270            0              62
  24  Mug             1.135          0.987          4.808          0              0              0              63
  25  Apple           0.150          0.834          6.416          0              270            0              98
  26  Apple           2.009          1.590          5.626          0              270            0              84
  27  Bowl            -0.621         0.143          0.277          0              0              0              70
  28  Bread           1.099          1.048          0.434          0              0              0              62
  29  Egg             1.387          0.941          2.627          0              90             0              85
  30  Knife           0.871          0.802          0.451          0              90             0              54
  31  Fork            -0.158         0.760          6.604          0              270            0              98
  32  Apple           1.135          1.067          4.670          0              0              0              63
  33  Kettle          1.562          0.988          3.848          0              0              0              56
  34  Plate           1.406          0.141          2.086          0              0              0              51
  35  SaltShaker      0.192          0.755          6.565          0              225            0              98
  36  Lettuce         0.169          0.848          6.807          0              225            0              98
  37  SoapBottle      -0.459         0.992          0.578          0              0              0              62
  38  Spatula         -0.531         0.775          6.763          0              135            0              98
  39  PaperTowelRoll  -0.034         0.864          6.941          0              0              0              98
  40  Pot             0.734          0.981          0.38           0              0              0              62
  41  Potato          0.064          1.132          0.213          0              0              0              78
  42  ButterKnife     0.123          0.760          6.107          0              135            0              98
  43  PepperShaker    -0.284         0.755          6.787          0              0              0              98
  44  Pan             1.313          0.985          4.284          0              0              0              57
  45  Tomato          -0.029         0.809          6.172          0              135            0              98
  46  DishSponge      -0.377         0.759          6.261          0              225            0              98
  47  Cup             1.573          0.136          1.864          0              0              0              51
  48  Spoon           -0.011         0.773          0.396          0              0              0              59
  49  Mug             1.400          0.136          4.763          0              0              0              64
  50  Cabinet         1.307          2.455          4.360          0              0              0
  51  Cabinet         1.054          0.422          1.710          0              0              0
  52  Drawer          1.280          0.808          4.718          0              0              0
  53  Cabinet         1.307          2.455          3.607          0              0              0
  54  Drawer          0.736          0.802          0.521          0              0              0
  55  Drawer          1.276          0.802          3.291          0              0              0
  56  StoveBurner     1.562          0.982          3.848          0              0              0
  57  StoveBurner     1.317          0.982          4.294          0              0              0
  58  Drawer          -0.482         0.802          0.521          0              0              0
  59  Drawer          0.124          0.802          0.521          0              0              0
  60  StoveBurner     1.559          0.982          4.294          0              0              0
  61  StoveBurner     1.320          0.982          3.848          0              0              0
  62  CounterTop      1.391          1.028          0.897          0              0              0
  63  CounterTop      1.391          1.028          4.716          0              0              0
  64  Cabinet         1.054          0.422          4.548          0              0              0
  65  Cabinet         1.317          2.134          0.517          0              0              0
  66  Cabinet         1.317          2.134          4.889          0              0              0
  67  Cabinet         1.317          2.134          3.095          0              0              0
  68  Cabinet         0.443          0.422          0.743          0              0              0
  69  Cabinet         1.270          2.134          0.434          0              0              0
  70  Cabinet         -0.775         0.422          0.743          0              0              0
  71  Cabinet         -0.168         0.422          0.743          0              0              0
  72  Cabinet         1.317          2.134          1.534          0              0              0
  73  Cabinet         1.054          0.422          2.990          0              0              0
  74  Cabinet         1.054          0.422          2.944          0              0              0
  75  Cabinet         -0.263         2.134          0.434          0              0              0
  76  Cabinet         0.252          2.134          0.434          0              0              0
  77  Sink            1.391          1.006          2.326          0              0              0
  78  Microwave       0.108          0.981          0.262          0              0              0
  79  HousePlant      -0.165         0.826          6.444          0              0              0
  80  CoffeeMachine   1.551          0.982          0.953          0              270            0
  81  Toaster         1.473          0.981          4.715          0              270            0
  82  Window          -2.065         1.916          3.626          90             90             0
  83  Window          1.763          2.007          2.299          90             270            0
  84  Fridge          2.035          0.0            5.625          0              0              0
  85  SinkBasin       1.387          0.880          2.338          0              90             0
  86  GarbageCan      2.001          -0.044         6.503          0              0              0
  87  StoveKnob       1.140          0.934          3.987          45             270            0
  88  StoveKnob       1.140          0.934          4.309          45             270            0
  89  StoveKnob       1.140          0.934          4.140          45             270            0
  90  StoveKnob       1.140          0.934          3.824          45             270            0
  91  Vase            -0.226         0.834          6.993          0              0              0
  92  Vase            2.098          0.043          7.070          0              257.232        0
  93  Vase            -0.594         0.835          6.130          0              225            0
  94  LightSwitch     -2.0           1.549          6.045          0              90             0
  95  Safe            2.046          1.072          7.054          0              257.232        0
  96  Faucet          1.534          1.025          2.371          0              294.391        0
  97  Blinds          1.738          2.563          2.312          0              90             0
  98  DiningTable     -0.156         0.000          6.474          0              0              0
  99  Chair           0.291          0.002          6.142          0              310.162        0
 100  GarbageBag      -1.092         0.318          0.268          270            90             83.492
 101  NorthWall
 102  EastWall
 103  SouthWall
 104  WestWall

Plan:
STEP 1: walk forward to table, turn right, walk to fridge, turn left, walk to wall, turn left to face table | STEP 2: pick up the lettuce that is on the table | STEP 3: turn left, walk a few steps, turn left to face fridge | STEP 4: open fridge, put the lettuce in the fridge, close it, wait a minute, take lettuce out  | STEP 5: turn left, walk a few steps, turn left to face table | STEP 6: put lettuce on the table | END