Task: put chilled lettuce on counter

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            0.900          0.0            0              180            0
   1  Statue          -1.292         0.936          -0.905         0              0              0              60
   2  Potato          -0.96          0.207          0.641          0              270            0              80
   3  CreditCard      -1.469         0.878          2.719          0              0              0              87
   4  CreditCard      0.773          0.908          -1.793         0              0              0              66
   5  CellPhone       1.114          0.908          -0.729         0              0              0              61
   6  DishSponge      0.859          0.910          -0.381         0              0              0              61
   7  Glassbottle     -0.865         0.177          0.543          0              180            0              80
   8  Spoon           -0.697         0.777          -0.745         0              90             0              81
   9  Knife           -0.698         0.957          0.315          0              0              0              60
  10  Knife           0.944          0.934          -0.034         0              180            0              61
  11  Cup             1.029          0.908          -0.555         0              0              0              61
  12  Cup             0.859          0.908          -0.034         0              0              0              61
  13  Plate           0.859          0.914          -0.208         0              0              0              61
  14  Plate           1.082          2.211          -1.517         0              270            0              67
  15  Bowl            0.688          0.914          -2.308         0              0              0              66
  16  Bowl            0.688          0.914          -1.793         0              0              0              66
  17  SaltShaker      0.833          0.150          -0.690         0              270            0              63
  18  SaltShaker      1.009          1.662          -1.893         0              270            0              59
  19  PepperShaker    0.915          0.491          -0.524         0              270            0              64
  20  PepperShaker    -1.363         0.550          2.770          0              0              0              86
  21  Lettuce         1.114          0.988          -0.381         0              0              0              61
  22  Lettuce         -1.292         1.010          -0.118         0              0              0              60
  23  Bread           0.905          1.216          1.349          0              270            0              83
  24  Bread           1.114          0.992          -0.034         0              0              0              61
  25  Apple           -1.054         0.227          0.641          0              180            0              80
  26  Statue          -1.816         0.871          2.754          0              180            0              60
  27  Glassbottle     0.688          0.912          -1.965         0              0              0              66
  28  Bread           -0.624         1.014          -1.308         0              0              0              60
  29  CreditCard      0.688          0.908          -2.051         0              0              0              66
  30  CellPhone       -0.550         0.930          0.086          0              0              0              60
  31  Potato          0.905          1.432          1.254          0              270            0              83
  32  Knife           0.773          0.934          -0.555         0              90             0              61
  33  Fork            0.834          0.703          -0.607         0              270            0              58
  34  Pan             0.848          0.946          -1.080         0              0              0              54
  35  Lettuce         0.688          0.988          -0.555         0              0              0              61
  36  Plate           0.844          1.405          1.063          0              270            0              83
  37  Apple           -1.054         0.227          0.543          0              180            0              80
  38  Pot             1.077          0.950          -1.504         0              0              0              56
  39  Spatula         0.754          0.717          -0.772         0              180            0              58
  40  PaperTowelRoll  -0.477         1.037          0.315          0              0              0              60
  41  Tomato          0.905          1.683          1.158          0              270            0              83
  42  Egg             1.087          1.439          1.063          0              270            0              83
  43  SaltShaker      1.009          1.662          -2.166         0              270            0              59
  44  PepperShaker    0.713          0.150          -0.571         0              270            0              63
  45  Vase            -1.423         0.169          2.621          0              0              0              86
  46  ButterKnife     -0.698         0.780          -0.486         0              90             0              81
  47  SoapBottle      1.082          2.208          -0.973         0              270            0              67
  48  Vase            -1.655         0.541          2.725          0              0              0              86
  49  Bowl            0.905          0.866          1.349          0              270            0              83
  50  DishSponge      0.859          0.910          -1.879         0              0              0              66
  51  Spoon           -0.697         0.777          -0.918         0              0              0              81
  52  Cup             0.783          0.860          0.967          0              270            0              83
  53  Mug             0.966          1.638          1.349          0              270            0              83
  54  StoveBurner     0.842          0.919          -1.098         0              0              0
  55  Cabinet         0.648          0.474          0.244          0              270            0
  56  StoveBurner     1.077          0.919          -1.504         0              0              0
  57  StoveBurner     0.842          0.919          -1.504         0              0              0
  58  Drawer          0.637          0.755          -0.649         0              270            0
  59  Cabinet         0.949          2.159          -2.375         0              270            0
  60  CounterTop      -1.238         0.968          -0.643         0              0              0
  61  CounterTop      0.931          0.946          -0.208         0              0              0
  62  StoveBurner     1.077          0.919          -1.098         0              0              0
  63  Drawer          0.637          0.268          -0.649         0              270            0
  64  Drawer          0.637          0.547          -0.649         0              270            0
  65  Cabinet         0.648          0.475          -1.714         0              0              0
  66  CounterTop      0.931          0.946          -2.051         0              0              0
  67  Cabinet         0.948          2.439          -1.780         0              270            0
  68  Cabinet         0.948          2.159          -0.140         0              270            0
  69  Cabinet         0.949          2.159          -0.758         0              270            0
  70  Sink            -0.699         0.927          -0.649         0              0              0
  71  LightSwitch     -2.371         1.218          3.049          0              180            0
  72  StoveKnob       0.673          0.899          -1.373         315            90             180
  73  StoveKnob       0.673          0.899          -1.519         315            90             180
  74  StoveKnob       0.673          0.899          -1.086         315            90             180
  75  StoveKnob       0.673          0.899          -1.237         315            90             180
  76  Toaster         0.984          0.900          0.329          0              270            0
  77  Window          0.014          0.998          -2.640         90             0              0
  78  Window          -2.996         0.998          -2.640         90             0              0
  79  CoffeeMachine   0.892          0.900          -2.132         0              300.130        0
  80  GarbageCan      -0.946         -0.036         0.575          0              180            0
  81  SinkBasin       -0.698         0.765          -0.647         0              90             0
  82  Microwave       1.042          1.680          -1.295         0              270            0
  83  Fridge          0.966          0.0            1.253          0              0              0
  84  HousePlant      -1.354         0.919          -1.540         0              0              0
  85  Shelf           -1.635         0.172          2.715          0              180            0
  86  Shelf           -1.635         0.552          2.715          0              180            0
  87  Shelf           -1.635         0.880          2.715          0              180            0
  88  ShelvingUnit    -1.635         0.006          2.715          0              180            0
  89  Chair           -1.832         0.002          -0.034         0              119.999        0
  90  Chair           -1.854         0.002          -0.956         0              67.887         0
  91  Faucet          -0.867         1.161          -0.651         0              0              0
  92  NorthWall
  93  EastWall
  94  SouthWall
  95  WestWall

Plan:
STEP 1: turn left to face counter | STEP 2: pick up the head of lettuce that is on the counter | STEP 3: turn left, walk to fridge, turn right | STEP 4: put the lettuce in fridge, wait a minute, take lettuce out | STEP 5: turn right, walk forward, turn left to face counter | STEP 6: put lettuce on counter | END