Task: Slice a lettuce head and place it on a plate

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -3.25          0.900          -1.0           0              180            0
   1  ButterKnife     -1.471         0.942          -3.517         0              0              0              40
   2  Spoon           -3.364         0.895          -0.548         0              90             0              77
   3  Spatula         -3.665         0.775          -3.515         0              154.125        0              76
   4  Spatula         -3.767         0.775          -3.269         0              109.125        0              76
   5  Egg             -2.359         0.935          -0.119         0              270            0              77
   6  Egg             -0.167         1.620          -1.884         0              270            0              72
   7  Cup             -0.185         0.943          -3.012         0              45             0              40
   8  Cup             -3.369         0.760          -3.129         0              244.125        0              76
   9  Plate           -0.135         1.516          -1.449         0              0              0              51
  10  Plate           -0.465         0.096          -1.489         0              0              0              56
  11  Plate           -3.163         0.908          -0.290         0              270            0              77
  12  Knife           -2.560         0.920          -0.290         0              270            0              77
  13  Tomato          -0.334         1.337          -0.762         0              270            0              70
  14  Bowl            -2.761         0.892          -0.119         0              270            0              77
  15  Bread           -3.364         0.976          -0.633         0              270            0              77
  16  Lettuce         -3.565         0.985          -0.376         0              270            0              77
  17  Lettuce         -3.530         0.851          -3.793         0              334.125        0              76
  18  Apple           -2.452         0.161          -3.505         0              0              0              65
  19  SoapBottle      -3.183         0.758          -3.472         0              109.125        0              76
  20  Pot             -0.606         0.802          -3.419         0              315            0              69
  21  Fork            -0.315         0.941          -1.450         0              0              0              58
  22  Cup             -0.252         1.287          -0.413         0              270            0              70
  23  Tomato          -3.364         0.945          -0.290         0              270            0              77
  24  Pan             -0.437         0.961          -1.845         0              180            0              41
  25  Plate           -3.527         0.774          -2.861         0              199.125        0              76
  26  Bread           -3.440         0.841          -3.406         0              334.125        0              76
  27  Spatula         -0.818         0.828          -3.510         0              225            0              69
  28  Knife           -4.039         0.785          -3.109         0              289.125        0              76
  29  SaltShaker      -2.560         0.890          -0.633         0              270            0              77
  30  PepperShaker    -0.078         0.937          -1.581         0              0              0              58
  31  ButterKnife     -3.565         0.894          -0.290         0              270            0              77
  32  Apple           -0.234         1.636          -2.043         0              270            0              72
  33  DishSponge      -1.077         0.941          -3.711         0              45             0              40
  34  Potato          -3.647         0.792          -3.264         0              244.125        0              76
  35  Egg             -0.359         1.529          -0.878         0              270            0              70
  36  Spoon           -1.123         0.754          -3.505         0              0              0              46
  37  Lettuce         -2.560         0.985          -0.204         0              270            0              77
  38  Mug             -2.514         0.972          -3.649         0              0              0              66
  39  Bowl            -3.662         0.758          -3.632         0              199.125        0              76
  40  CounterTop      -1.937         0.977          -3.673         0              0              0
  41  StoveBurner     -0.437         0.924          -1.845         0              180            0
  42  StoveBurner     -0.222         0.924          -1.845         0              180            0
  43  StoveBurner     -0.437         0.924          -2.243         0              0              0
  44  Drawer          -0.500         0.779          -1.450         0              0              0
  45  Drawer          -0.481         0.777          -2.739         0              0              0
  46  Drawer          -1.154         0.782          -3.499         0              0              0
  47  Cabinet         -0.337         2.110          -0.390         0              0              0
  48  Cabinet         -0.337         2.110          -1.272         0              0              0
  49  Cabinet         -0.337         2.110          -1.631         0              0              0
  50  Cabinet         -0.337         2.110          -2.497         0              0              0
  51  Cabinet         -0.337         1.891          -1.286         0              0              0
  52  Cabinet         -0.346         1.891          -3.293         0              0              0
  53  Cabinet         -0.629         0.388          -2.513         0              0              0
  54  Cabinet         -0.633         0.388          -3.008         0              0              0
  55  Cabinet         -1.010         0.388          -3.368         0              0              0
  56  Cabinet         -0.629         0.388          -1.614         0              0              0
  57  Cabinet         -0.327         1.886          -2.513         0              0              0
  58  CounterTop      -0.326         0.976          -1.450         0              0              0
  59  StoveBurner     -0.222         0.924          -2.243         0              0              0
  60  Sink            -0.600         0.929          -3.388         0              0              0
  61  StoveKnob       -0.617         0.899          -1.833         315            90             180
  62  StoveKnob       -0.617         0.899          -2.129         315            90             180
  63  StoveKnob       -0.617         0.899          -2.289         315            90             180
  64  StoveKnob       -0.617         0.899          -1.975         315            90             180
  65  GarbageCan      -2.418         -0.032         -3.541         0              0              0
  66  CoffeeMachine   -2.513         0.930          -3.797         0              0              0
  67  Window          -1.389         1.610          -4.113         90             0              0
  68  LightSwitch     -4.372         1.493          -1.031         0              90             0
  69  SinkBasin       -0.614         0.802          -3.384         0              315            0
  70  Fridge          -0.314         0.0            -0.646         0              0              0
  71  Toaster         -1.970         0.930          -3.763         0              0              0
  72  Microwave       -0.216         1.470          -2.054         0              270            0
  73  Blinds          -1.373         2.205          -3.961         0              0              0
  74  Faucet          -0.393         0.930          -3.614         270            225            0
  75  SideTable       -4.030         0.002          -0.301         0              185.034        0
  76  DiningTable     -3.586         0.000          -3.258         0              0              0
  77  DiningTable     -3.224         -0.003         -0.453         0              0              0
  78  Shelf           -4.030         0.259          -0.301         0              185.034        0
  79  Shelf           -4.030         0.489          -0.301         0              185.034        0
  80  EastWall
  81  EastWall
  82  SouthWall

Plan:
STEP 1: Turn around walk straight and face the left side of the white table | STEP 2: Pick up the butter knife from the table | STEP 3: Slice the lettuce head with the knife | STEP 4: Turn to the right then back to the left and face the middle of the white table | STEP 5: Place the knife on the silver plate | STEP 6: Turn to the left then slightly walk forward and turn right and face the left side of the white table | STEP 7: Pick up a slice from the lettuce head | STEP 8: Turn to the right then back to the left and face the middle of the white table | STEP 9: Place the piece of lettuce on the silver plate with the knife | STEP 10: Pick up the silver plate with the lettuce and knife on it | STEP 11: Turn to the left and walk slightly forward and face the small black shelf on the right | STEP 12: Place the silver plate with the lettuce and knife on the top black shelf | END