Task: To gather two heads of lettuce and put them in the freezer.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.5            0.900          2.0            0              270            0
   1  Pan             -2.439         1.300          -0.885         0              180            0              82
   2  Potato          -0.471         0.947          0.647          0              0              0              50
   3  DishSponge      -0.081         0.910          0.647          0              0              0              50
   4  DishSponge      -2.642         1.938          -0.634         0              0              0              72
   5  ButterKnife     1.453          0.918          -1.069         0              225            0              64
   6  ButterKnife     1.684          0.910          -0.768         0              0              0              60
   7  Spoon           0.868          0.912          -1.580         0              45             0              60
   8  Spoon           1.399          0.922          -1.123         0              225            0              64
   9  Spatula         -2.227         0.789          1.000          0              270            0              55
  10  Spatula         -2.348         0.789          0.809          0              90             0              55
  11  Pot             1.412          0.929          -0.335         0              0              0              51
  12  Egg             -2.506         1.046          2.329          0              90             0              90
  13  Egg             1.310          0.949          -1.142         0              225            0              64
  14  Plate           -2.372         0.913          0.931          0              0              0              78
  15  Plate           1.428          0.913          -0.726         0              0              0              64
  16  Knife           -2.455         0.936          1.530          0              0              0              78
  17  Tomato          -2.289         0.953          1.230          0              0              0              78
  18  Tomato          -2.393         1.131          -0.696         0              90             0              82
  19  SoapBottle      1.697          1.658          0.018          0              0              0              69
  20  SoapBottle      -2.704         0.912          1.230          0              0              0              78
  21  Bowl            -2.448         1.580          -1.777         0              180            0              77
  22  Bowl            1.697          1.653          0.239          0              0              0              69
  23  Lettuce         -2.621         0.994          0.631          0              0              0              78
  24  Lettuce         -0.081         0.994          1.764          0              0              0              50
  25  Mug             0.464          0.955          -1.593         0              0              0              60
  26  Apple           -2.570         1.077          2.481          0              90             0              90
  27  Pan             -2.538         0.910          0.331          0              0              0              78
  28  Knife           -2.257         0.799          0.022          0              270            0              68
  29  Apple           1.687          0.246          0.679          0              0              0              89
  30  Bowl            -2.420         0.591          -0.603         0              90             0              82
  31  Fork            -2.372         0.911          0.631          0              0              0              78
  32  Bread           -0.341         0.996          1.764          0              0              0              50
  33  Plate           0.373          1.666          -1.766         0              90             0              57
  34  Egg             1.178          0.794          -1.445         0              225            0              88
  35  Kettle          1.691          0.929          0.064          0              0              0              61
  36  Potato          1.240          0.954          -1.072         0              225            0              64
  37  SaltShaker      -2.496         1.928          -1.092         0              270            0              71
  38  Lettuce         -0.081         0.994          0.423          0              0              0              50
  39  Cup             -2.411         1.581          -1.558         0              180            0              77
  40  SoapBottle      1.388          0.924          -1.274         0              225            0              64
  41  Spatula         -0.341         0.925          1.317          0              0              0              50
  42  PaperTowelRoll  -0.211         1.015          1.094          0              0              0              50
  43  ButterKnife     -0.211         0.910          0.423          0              0              0              50
  44  PepperShaker    -0.601         0.905          1.094          0              0              0              50
  45  DishSponge      -2.638         1.537          0.702          0              0              0              74
  46  Pot             -2.310         0.118          -0.023         0              0              0              66
  47  Spoon           -2.287         0.774          -0.121         0              90             0              68
  48  Tomato          -2.621         0.953          1.530          0              0              0              78
  49  Mug             0.683          0.905          -1.625         0              0              0              60
  50  CounterTop      -0.360         0.946          1.093          0              0              0
  51  StoveBurner     1.412          0.923          -0.335         0              0              0
  52  StoveKnob       1.878          1.093          0.018          287.989        90             0
  53  StoveKnob       1.878          1.093          -0.306         287.989        90             0
  54  Cabinet         -2.446         1.948          2.924          0              0              0
  55  Drawer          -2.276         0.792          0.902          0              0              0
  56  Cabinet         -2.145         0.402          1.578          0              0              0
  57  Cabinet         0.149          2.008          -1.603         0              90             0
  58  StoveBurner     1.691          0.923          -0.335         0              0              0
  59  CounterTop      1.585          0.946          0.405          0              0              0
  60  CounterTop      0.474          0.946          -1.625         0              0              0
  61  StoveBurner     1.691          0.923          0.064          0              0              0
  62  Cabinet         -2.446         1.948          1.687          0              0              0
  63  Cabinet         -2.446         1.948          1.640          0              0              0
  64  Sink            1.381          0.810          -1.271         0              225            0
  65  StoveKnob       1.878          1.093          0.150          287.989        90             0
  66  Cabinet         -2.145         0.402          -0.236         0              0              0
  67  Drawer          -2.276         0.792          0.437          0              0              0
  68  Drawer          -2.276         0.792          -0.027         0              0              0
  69  Cabinet         1.572          2.008          0.474          0              0              0
  70  Cabinet         1.572          2.008          -0.775         0              0              0
  71  Cabinet         -2.445         2.148          -1.275         0              0              0
  72  Cabinet         -2.446         2.148          -0.284         0              0              0
  73  Cabinet         -2.446         1.948          0.355          0              0              0
  74  Cabinet         -2.446         1.948          0.405          0              0              0
  75  Cabinet         -2.145         0.402          0.644          0              0              0
  76  Cabinet         -2.145         0.402          0.695          0              0              0
  77  Cabinet         -2.285         1.968          -1.325         0              180            0
  78  CounterTop      -1.485         0.946          1.319          0              0              0
  79  StoveBurner     1.411          0.923          0.064          0              0              0
  80  StoveKnob       1.878          1.093          -0.441         287.989        90             0
  81  Drawer          -2.276         0.792          1.368          0              0              0
  82  Fridge          -2.475         0.0            -0.782         0              90             0
  83  LightSwitch     -0.929         1.350          -1.950         0              0              0
  84  Toaster         -2.564         0.900          1.876          0              90             0
  85  CoffeeMachine   0.464          0.900          -1.810         0              0              0
  86  Window          1.508          1.534          -1.496         90             135            0
  87  Window          1.973          1.521          1.121          90             90             0
  88  SinkBasin       1.149          0.753          -1.380         0              225            0
  89  GarbageCan      1.646          -0.000         0.679          0              0              0
  90  Microwave       -2.580         0.900          2.440          0              90             0
  91  Stool           0.439          0.010          0.747          0              0              0
  92  Stool           -2.303         0.010          1.839          0              0              0
  93  Faucet          1.235          1.138          -1.473         0              225            0
  94  NorthWall
  95  EastWall
  96  SouthWall
  97  WestWall

Plan:
STEP 1: Walk to the right around the table and walk around the table to face the counter to the right of the fridge. | STEP 2: Pick up the head of lettuce on the counter. | STEP 3: Step to the left to face the fridge. | STEP 4: Place the lettuce in the freezer. | STEP 5: Turn around and walk around to face the opposite side of the center table | STEP 6: Pick up the head of lettuce on the table. | STEP 7: Walk to the right around the table and walk around the table and turn right to face the fridge. | STEP 8: Place the head of lettuce in the freezer beside the other head of lettuce. | END