Task: To move two heads of lettuce to the fridge as well as cut them into slices.

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          -1.0           0              180            0
   1  Pan             -0.465         0.950          -2.576         0              90             0              67
   2  Potato          -2.070         1.336          1.092          0              90             0              91
   3  Potato          0.582          0.941          -2.253         0              0              0              60
   4  CreditCard      -1.825         0.791          0.243          0              90             0              55
   5  Cup             1.893          0.550          -2.407         0              180            0              88
   6  Cup             0.506          0.138          -2.337         0              0              0              75
   7  SoapBottle      -0.473         1.112          0.757          0              0              0              58
   8  SoapBottle      -0.898         1.657          -2.676         0              0              0              72
   9  PepperShaker    -1.609         0.150          -0.245         0              90             0              81
  10  PepperShaker    0.836          0.311          -2.383         0              0              0              62
  11  Bread           -0.197         1.184          0.251          0              0              0              58
  12  Lettuce         -0.335         1.191          0.757          0              0              0              58
  13  Lettuce         -0.197         1.191          -0.506         0              0              0              58
  14  Apple           -1.852         0.820          -1.673         0              90             0              93
  15  Spoon           0.582          0.911          -2.560         0              0              0              60
  16  Spoon           -1.852         0.770          -1.414         0              90             0              93
  17  Spatula         1.121          0.157          -2.286         0              270            0              78
  18  Spatula         -1.937         0.926          -0.698         0              90             0              83
  19  ButterKnife     0.217          1.111          0.251          0              0              0              58
  20  WineBottle      1.891          0.881          -2.509         0              180            0              85
  21  WineBottle      0.355          1.112          0.251          0              0              0              58
  22  DishSponge      -1.935         0.047          2.124          0              270            0              89
  23  Book            0.155          1.1            0.617          0              315            0              58
  24  Glassbottle     -1.290         0.912          -2.637         0              0              0              83
  25  Knife           -0.059         1.136          -0.001         0              0              0              58
  26  Bread           -2.070         1.381          0.925          0              90             0              91
  27  Fork            -1.693         0.911          -2.036         0              270            0              83
  28  Potato          -1.962         0.078          1.981          0              270            0              89
  29  SoapBottle      1.996          0.554          -2.718         0              180            0              88
  30  Kettle          0.217          1.112          -0.759         0              0              0              58
  31  Pan             -0.036         0.950          -2.372         0              270            0              53
  32  Plate           -0.473         1.108          0.504          0              0              0              58
  33  Tomato          -2.038         0.579          1.251          0              90             0              91
  34  Vase            -1.008         0.139          -2.453         0              0              0              76
  35  Egg             -1.852         0.804          -1.587         0              90             0              93
  36  CreditCard      -0.473         1.108          -0.759         0              0              0              58
  37  Statue          0.079          1.110          -0.001         0              270            0              58
  38  WineBottle      2.096          0.881          -2.563         0              180            0              85
  39  Pot             -1.219         0.9            -2.356         0              0              0              83
  40  Spatula         -1.963         0.784          -1.242         0              180            0              93
  41  PaperTowelRoll  0.324          1.014          -2.407         0              0              0              60
  42  Cup             -0.328         1.788          -2.482         0              0              0              84
  43  Vase            0.336          0.138          -2.337         0              0              0              75
  44  Bowl            0.451          1.656          -2.632         0              0              0              82
  45  SaltShaker      -0.473         1.107          -0.253         0              0              0              58
  46  PepperShaker    -1.856         0.907          -0.698         0              0              0              83
  47  Lettuce         0.217          1.191          -0.253         0              0              0              58
  48  ButterKnife     -1.586         0.911          -2.560         0              0              0              83
  49  Apple           0.453          0.961          -2.330         0              0              0              60
  50  DishSponge      -1.512         1.657          -2.531         0              0              0              74
  51  Spoon           -0.848         0.912          -2.560         0              0              0              83
  52  Mug             0.711          0.905          -2.484         0              90             0              60
  53  StoveBurner     -0.036         0.915          -2.372         0              0              0
  54  Drawer          0.949          0.832          -2.197         0              0              0
  55  Drawer          -1.560         0.839          0.204          0              90             0
  56  StoveBurner     -0.465         0.915          -2.371         0              180            0
  57  Drawer          -1.560         0.839          -0.197         0              90             0
  58  CounterTop      -0.079         1.147          -0.001         0              0              0
  59  Cabinet         -1.549         0.494          -1.964         0              90             0
  60  CounterTop      0.693          0.946          -2.483         0              0              0
  61  StoveBurner     -0.036         0.915          -2.576         0              0              0
  62  Drawer          0.949          0.393          -2.200         0              0              0
  63  Drawer          0.949          0.708          -2.200         0              0              0
  64  Cabinet         -1.549         0.494          0.379          0              90             0
  65  StoveKnob       -0.022         0.881          -2.187         45             0              0
  66  Drawer          0.949          0.560          -2.201         0              0              0
  67  StoveBurner     -0.465         0.915          -2.575         0              180            0
  68  Window          -2.230         1.429          -1.203         0              0              0
  69  StoveKnob       -0.483         0.881          -2.187         45             0              0
  70  Sink            -1.899         0.964          -1.5           0              90             0
  71  StoveKnob       -0.328         0.881          -2.187         45             0              0
  72  Cabinet         -0.727         2.015          -2.460         0              0              0
  73  Drawer          -1.560         0.655          -0.196         0              90             0
  74  Cabinet         -1.685         2.015          -2.461         0              0              0
  75  Cabinet         0.680          0.494          -2.200         0              0              0
  76  Cabinet         -1.179         0.494          -2.200         0              0              0
  77  Cabinet         -1.849         2.015          0.379          0              90             0
  78  Drawer          0.949          0.221          -2.200         0              0              0
  79  StoveKnob       -0.183         0.881          -2.187         45             0              0
  80  Cabinet         0.719          2.015          -2.460         0              0              0
  81  Drawer          -1.560         0.331          -0.196         0              90             0
  82  Cabinet         0.680          2.015          -2.460         0              0              0
  83  CounterTop      -1.868         0.946          -1.205         0              0              0
  84  Microwave       -0.236         1.689          -2.525         0              0              0
  85  Shelf           1.751          0.880          -2.560         0              0              0
  86  HousePlant      -1.948         0.889          -2.520         0              5.334          0
  87  Toaster         -1.835         0.900          0.134          0              90             0
  88  Shelf           1.750          0.552          -2.559         0              0              0
  89  GarbageCan      -1.935         -0.002         2.029          0              270            0
  90  Shelf           1.750          0.172          -2.559         0              0              0
  91  Fridge          -2.096         0.0            1.088          0              0              0
  92  CoffeeMachine   -1.977         0.900          -0.188         0              90             0
  93  SinkBasin       -1.908         0.759          -1.488         0              90             0
  94  LightSwitch     2.329          1.309          -0.159         0              270            0
  95  ShelvingUnit    1.750          0.006          -2.559         0              0              0
  96  Stool           0.702          0.000          -0.514         1.202          65.108         0
  97  Stool           0.743          0.000          0.563          1.227          106.706        0
  98  Faucet          -2.070         1.132          -1.514         0              0              0
  99  NorthWall
 100  EastWall
 101  SouthWall
 102  WestWall

Plan:
STEP 1: Turn left and walk across the room, then turn left and walk forward two steps and turn left to face the table. | STEP 2: Pick up the closer head of lettuce on the table. | STEP 3: Turn right and walk across the room, then turn left and walk across the room to face the fridge. | STEP 4: Place the head of lettuce on the top shelf in the fridge. | STEP 5: Turn around and step forward, then look to the right to face the counter. | STEP 6: Pick up the head of lettuce on the counter. | STEP 7: Turn right and walk forward to face the fridge. | STEP 8: Place the head of lettuce beside the other head of lettuce. | STEP 9: Turn left and walk across the room to face the counter. | STEP 10: Pick up the knife on the counter. | STEP 11: Turn around and walk across the room and turn left to face the fridge. | STEP 12: Cut both heads of lettuce in the fridge into slices. | END