Task: To move two heads of lettuce to 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           -1.5           0.914          3.0            0              90             0
   1  Potato          -1.523         0.923          -0.053         0              90             0              81
   2  ButterKnife     -3.559         0.915          1.440          0              0              0              54
   3  Kettle          -3.424         0.966          1.971          0              0              0              53
   4  Kettle          -3.272         0.916          3.827          0              0              0              45
   5  Spatula         -3.463         0.930          1.524          0              0              0              54
   6  Spatula         -0.994         0.906          0.152          0              90             0              81
   7  Fork            -0.994         0.892          0.461          0              90             0              81
   8  Egg             -0.994         0.926          0.049          0              90             0              81
   9  Egg             -0.323         1.576          4.136          0              180            0              71
  10  Cup             -1.787         0.891          0.152          0              90             0              81
  11  Tomato          -0.206         0.791          3.817          0              180            0              71
  12  Tomato          -0.673         0.791          3.817          0              180            0              71
  13  SoapBottle      -1.161         0.087          3.788          0              270            0              77
  14  SoapBottle      -3.492         1.995          2.363          0              0              0              60
  15  SaltShaker      -1.655         0.887          0.049          0              90             0              81
  16  SaltShaker      -3.492         1.990          2.054          0              0              0              59
  17  Lettuce         -2.302         1.001          3.998          0              0              0              45
  18  Lettuce         -1.127         0.977          0.049          0              0              0              81
  19  Bread           -0.994         0.972          0.358          0              90             0              81
  20  Bread           -0.323         1.067          3.988          0              180            0              71
  21  Mug             -3.492         1.989          1.945          0              0              0              59
  22  Egg             -1.256         0.122          3.852          0              270            0              77
  23  Knife           -3.368         0.939          1.189          0              90             0              54
  24  Fork            -3.654         0.916          1.440          0              90             0              54
  25  Bread           -3.505         1.627          2.120          0              90             0              76
  26  Potato          -0.556         1.306          4.062          0              180            0              71
  27  Plate           -3.005         0.904          3.677          0              0              0              45
  28  Pot             -1.655         0.893          0.461          0              270            0              81
  29  Kettle          -3.191         0.084          1.278          0              0              0              64
  30  WineBottle      -3.272         0.916          3.663          0              0              0              45
  31  Bowl            -0.089         1.272          4.062          0              180            0              71
  32  Tomato          -0.790         1.342          4.168          0              180            0              71
  33  Cup             -1.523         0.891          0.049          0              90             0              81
  34  Spatula         -3.559         0.930          1.106          0              90             0              54
  35  SoapBottle      -3.654         0.915          1.273          0              0              0              54
  36  Lettuce         -1.259         0.977          0.358          0              180            0              81
  37  Pan             -2.614         0.902          3.620          0              0              0              45
  38  Apple           -1.655         0.951          -0.053         0              90             0              81
  39  SaltShaker      -3.508         1.455          1.530          0              0              0              63
  40  PepperShaker    -3.463         0.912          1.106          0              0              0              54
  41  ButterKnife     -1.729         0.789          3.7            0              0              0              75
  42  DishSponge      -3.081         0.915          1.106          0              0              0              54
  43  Spoon           -3.272         0.916          1.607          0              0              0              54
  44  Mug             -1.391         0.886          0.049          0              90             0              81
  45  CounterTop      -3.381         0.950          3.335          0              0              0
  46  Drawer          -3.121         0.775          1.357          0              0              0
  47  Drawer          -3.121         0.777          2.916          0              0              0
  48  StoveBurner     -3.148         0.958          2.374          0              0              0
  49  Sink            -1.797         0.917          3.660          0              0              0
  50  Cabinet         -1.421         0.388          3.459          0              0              0
  51  StoveBurner     -3.424         0.958          2.374          0              0              0
  52  Cabinet         -3.365         1.931          2.676          0              0              0
  53  StoveBurner     -3.424         0.958          1.971          0              0              0
  54  CounterTop      -3.381         0.951          1.356          0              0              0
  55  Drawer          -3.121         0.781          3.295          0              0              0
  56  Cabinet         -2.205         0.388          3.459          0              0              0
  57  Cabinet         -2.963         0.388          3.459          0              0              0
  58  Cabinet         -2.992         0.388          2.683          0              0              0
  59  Cabinet         -3.352         2.205          1.715          0              0              0
  60  Cabinet         -3.352         2.205          2.653          0              0              0
  61  Cabinet         -2.189         0.388          3.466          0              0              0
  62  Cabinet         -3.365         1.931          3.963          0              0              0
  63  Cabinet         -3.365         1.931          1.056          0              0              0
  64  Cabinet         -2.992         0.388          1.037          0              0              0
  65  StoveBurner     -3.143         0.958          1.971          0              0              0
  66  StoveKnob       -3.599         1.110          2.017          0              0              105.000
  67  StoveKnob       -3.599         1.110          1.867          0              0              105.000
  68  StoveKnob       -3.599         1.110          2.267          0              0              105.000
  69  StoveKnob       -3.599         1.110          2.427          0              0              105.000
  70  Toaster         -2.654         0.902          4.064          0              180            0
  71  Fridge          -0.439         0.014          3.996          0              0              0
  72  LightSwitch     0.25           1.383          2.085          0              270            0
  73  Window          -1.430         1.338          -0.347         90             0              0
  74  CoffeeMachine   -3.550         0.902          3.274          0              90             0
  75  SinkBasin       -1.802         0.778          3.700          0              0              0
  76  Microwave       -3.484         1.430          2.182          0              90             0
  77  GarbageCan      -1.184         -0.020         3.794          0              270            0
  78  Blinds          -1.404         2.092          -0.296         0              0              0
  79  Stool           -1.373         0.014          1.048          1.214          20.754         0
  80  Faucet          -1.788         0.903          3.931          270            90             0
  81  DiningTable     -1.399         0.010          0.238          0              0              0
  82  GarbageBag      -0.291         0.336          -0.034         272.372        348.812        147.313
  83  NorthWall
  84  EastWall
  85  SouthWall
  86  WestWall

Plan:
STEP 1: Turn right at the door and walk towards the trash bag, turn right to face the table.  | STEP 2: Pick up the head of lettuce to the left of the loaf of bread.  | STEP 3: Turn right and walk to the fridge.  | STEP 4: Open the fridge door, put the lettuce inside the fridge, close the fridge door.  | STEP 5: Turn around and walk back over to the table.  | STEP 6: Pick up the lettuce from the table that's behind the loaf of bread.  | STEP 7: Turn right and walk to the fridge.  | STEP 8: Open the fridge door, put the lettuce in the fridge on the top shelf to the left of the first head of lettuce, close the door.  | END