Task: To cut a slice of lettuce plus insert it into a pan as well as move the pan from the stove to the table.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.75           0.869          -3.25          0              0              0
   1  Potato          0.950          0.916          -0.245         0              0              0              43
   2  DishSponge      0.803          0.883          -0.176         0              0              0              43
   3  ButterKnife     0.720          0.760          -0.188         0              0              0              42
   4  Spatula         0.803          0.898          0.029          0              180            0              43
   5  Pot             -2.097         0.930          1.049          0              0              0              50
   6  Egg             0.901          0.702          0.265          0              0              0              48
   7  Egg             0.669          0.502          -1.725         0              270            0              63
   8  Cup             0.721          0.663          0.630          0              0              0              48
   9  Cup             0.842          0.014          -0.250         0              0              0              53
  10  Knife           0.817          0.782          0.002          0              270            0              42
  11  Knife           1.070          0.906          -0.687         0              90             0              43
  12  Tomato          0.841          0.712          0.508          0              0              0              48
  13  Bowl            0.799          0.770          -0.735         0              270            0              66
  14  PepperShaker    0.858          1.460          -0.146         0              0              0              54
  15  PepperShaker    0.898          0.012          0.011          0              0              0              53
  16  Lettuce         0.708          1.461          -1.802         0              270            0              63
  17  Lettuce         0.708          0.751          -1.802         0              270            0              63
  18  Lettuce         0.708          1.245          -2.113         0              270            0              63
  19  Mug             -2.054         0.794          -3.640         0              0              0              65
  20  Apple           -1.261         0.105          -3.537         0              270            0              58
  21  Pot             -1.552         0.930          0.785          0              0              0              47
  22  Plate           -2.023         0.692          -1.447         0              0              0              79
  23  Fork            0.647          0.874          -0.069         0              45             0              43
  24  SoapBottle      0.787          0.014          -0.053         0              0              0              53
  25  Apple           -1.187         0.105          -3.647         0              270            0              58
  26  Pan             0.740          -0.007         -0.596         0              0              0              46
  27  Egg             0.746          0.502          -1.725         0              270            0              63
  28  Spatula         0.769          0.774          -0.124         0              0              0              42
  29  Potato          0.746          1.191          -1.880         0              270            0              63
  30  Cup             0.746          0.663          -2.190         0              270            0              63
  31  SaltShaker      0.566          0.012          -0.571         0              0              0              46
  32  PepperShaker    0.676          0.012          -0.833         0              0              0              46
  33  ButterKnife     0.781          0.664          0.326          0              0              0              48
  34  DishSponge      0.672          0.772          -0.570         0              270            0              66
  35  Bread           0.661          0.708          0.387          0              0              0              48
  36  Lettuce         -1.084         0.973          0.955          41.452         1.687          2.953          69
  37  Tomato          0.746          0.514          -2.113         0              270            0              63
  38  Spoon           0.671          0.760          0.002          0              0              0              42
  39  Knife           0.961          0.688          0.448          0              90             0              48
  40  Mug             0.994          1.458          -0.269         0              0              0              54
  41  Bowl            0.903          1.462          0.349          0              0              0              55
  42  Drawer          0.706          0.766          -0.125         0              0              0
  43  CounterTop      0.792          0.919          -0.108         0              0              0
  44  Mirror          1.093          1.602          -0.643         0              0              0
  45  StoveBurner     -2.096         0.890          0.785          0              0              0
  46  Cabinet         0.507          0.345          -0.426         0              0              0
  47  StoveBurner     -1.552         0.890          0.785          0              0              0
  48  SideTable       0.770          -0.030         0.443          0              0              0
  49  Sink            0.753          0.882          -0.680         0              0              0
  50  StoveBurner     -2.096         0.890          1.049          0              0              0
  51  GarbageBag      -0.770         0.287          -3.541         270            73.521         83.489
  52  StoveBurner     -1.554         0.890          1.049          0              0              0
  53  Cabinet         0.507          0.345          0.156          0              0              0
  54  Cabinet         0.717          1.822          -0.398         0              0              0
  55  Cabinet         0.717          1.822          0.669          0              0              0
  56  CoffeeMachine   0.873          0.865          -1.256         0              270            0
  57  Toaster         -0.522         0.886          1.081          0              180            0
  58  GarbageCan      -1.261         -0.031         -3.610         0              270            0
  59  StoveKnob       -1.898         0.866          0.519          311.864        0              180
  60  StoveKnob       -1.754         0.866          0.519          311.864        0              180
  61  StoveKnob       -2.058         0.866          0.519          311.864        0              180
  62  StoveKnob       -1.600         0.866          0.519          311.864        0              180
  63  Fridge          0.680          -0.031         -1.957         0              0              0
  64  Window          -2.424         1.639          -2.453         90             270            0
  65  Microwave       -1.994         0.690          -3.651         0              0              0
  66  SinkBasin       0.757          0.762          -0.688         0              270            0
  67  LightSwitch     1.102          1.368          -3.737         0              270            0
  68  Shelf           -0.350         0.124          0.857          0              0              0
  69  DiningTable     -0.350         -0.025         0.857          0              0              0
  70  DiningTable     -1.909         -0.032         -3.507         0              0              0
  71  Blinds          -2.343         2.151          -2.437         0              270            0
  72  AluminumFoil    0.762          0.224          0.337          0              184.594        0
  73  AluminumFoil    0.751          0.225          0.287          0              0              0
  74  AluminumFoil    0.839          0.224          0.392          0              195.128        0
  75  Shelf           0.771          0.226          0.445          0              0              0
  76  Shelf           0.771          0.456          0.446          0              0              0
  77  Faucet          1.025          0.873          -0.678         270            180            0
  78  Shelf           -0.350         0.497          0.857          0              0              0
  79  DiningTable     -1.929         -0.035         -1.398         0              90             0
  80  Chair           -1.610         -0.024         -1.424         358.454        297.426        0
  81  NorthWall
  82  EastWall
  83  SouthWall
  84  WestWall

Plan:
STEP 1: Walk past the fridge across the room and turn right to face the black table at the end of the counter. | STEP 2: Pick up the knife on the black table. | STEP 3: Turn around and walk forward and turn to the left to face the table to the right of the stove. | STEP 4: Cut the lettuce on the counter into slices. | STEP 5: Turn right and walk forward to face the black table. | STEP 6: Place the knife on the black table. | STEP 7: Turn to the left to face the lettuce on the table. | STEP 8: Pick up a slice of lettuce from on the table. | STEP 9: Take a step to the left and face the back right burner. | STEP 10: Place the slice of lettuce in the pan on the back right burner. | STEP 11: Pick up the pan with the lettuce slice in it. | STEP 12: Turn to the right and walk to face the far end of the table. | STEP 13: Place the pan with the lettuce slice in it on the table. | END