Task: Preparing a plate of lettuce.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -2.0           0.901          1.5            0              90             0
   1  Potato          -2.995         0.926          2.045          0              0              0              75
   2  Potato          -0.244         1.044          0.267          0              0              0              73
   3  ButterKnife     -0.314         0.900          3.133          0              0              0              77
   4  Spatula         -2.686         0.915          2.177          0              90             0              75
   5  Spatula         -2.549         0.950          3.580          0              0              0              61
   6  Spoon           -0.218         0.663          0.409          0              0              0              43
   7  Fork            -0.572         0.901          2.530          0              0              0              77
   8  Fork            -0.572         0.901          2.932          0              0              0              77
   9  Egg             -0.952         0.961          0.650          0              0              0              54
  10  Egg             -0.244         1.056          0.108          0              0              0              73
  11  Plate           -2.805         0.636          4.427          0              90             0              71
  12  Plate           -1.180         0.800          0.337          0              0              0              72
  13  Plate           -0.692         1.777          0.205          0              0              0              52
  14  Knife           -2.480         0.926          2.309          0              90             0              75
  15  Tomato          -2.847         1.250          4.501          0              90             0              71
  16  Tomato          -2.691         0.362          4.204          0              90             0              71
  17  PepperShaker    -0.572         0.896          3.535          0              0              0              77
  18  PepperShaker    -2.431         0.658          0.355          0              0              0              62
  19  Lettuce         -2.847         1.266          4.352          0              90             0              71
  20  Lettuce         -0.572         0.980          2.731          0              180            0              77
  21  Lettuce         -0.657         0.980          3.133          0              0              0              77
  22  Egg             -0.486         0.933          3.334          0              0              0              77
  23  Plate           -1.746         1.777          0.251          0              0              0              49
  24  Fork            -2.037         0.928          0.518          0              0              0              54
  25  Bread           -0.228         0.957          2.530          0              0              0              77
  26  Apple           -0.572         0.956          2.329          0              0              0              77
  27  Lettuce         -2.377         0.980          2.441          0              0              0              75
  28  Spatula         -2.628         0.950          3.302          0              0              0              61
  29  Knife           -2.583         0.926          2.045          0              0              0              75
  30  Potato          -2.730         0.080          0.284          0              26.101         0              68
  31  Tomato          -2.831         0.362          4.649          0              90             0              71
  32  Cup             -2.583         0.900          2.177          0              0              0              75
  33  SaltShaker      -3.022         0.931          3.209          0              0              0              61
  34  PepperShaker    -0.326         0.658          0.355          0              0              0              43
  35  ButterKnife     -2.549         0.935          3.580          0              90             0              61
  36  SoapBottle      -0.400         0.900          2.731          0              0              0              77
  37  Pan             -0.254         0.928          4.672          0              0              0              56
  38  DishSponge      -1.770         0.927          0.518          0              0              0              54
  39  Pot             -0.535         0.928          4.274          0              0              0              58
  40  Spoon           -0.314         0.901          2.932          0              0              0              77
  41  Mug             -0.403         1.018          0.203          0              0              0              73
  42  Bowl            -2.356         1.770          0.160          0              0              0              50
  43  Drawer          -0.325         0.696          0.413          0              0              0
  44  Cabinet         -0.595         0.490          0.648          0              0              0
  45  Cabinet         -0.555         0.490          0.646          0              0              0
  46  Cabinet         -1.591         0.490          0.646          0              0              0
  47  Cabinet         -1.554         0.490          0.646          0              0              0
  48  Cabinet         -2.550         0.490          0.646          0              0              0
  49  Cabinet         -1.514         2.046          0.392          0              0              0
  50  Cabinet         -2.474         2.046          0.392          0              0              0
  51  Cabinet         -1.478         2.046          0.392          0              0              0
  52  Cabinet         -0.518         2.046          0.392          0              0              0
  53  Cabinet         -0.479         2.046          0.392          0              0              0
  54  CounterTop      -1.366         0.952          0.349          0              0              0
  55  Sink            -1.108         0.926          0.340          0              0              0
  56  StoveBurner     -0.254         0.922          4.672          0              0              0
  57  Drawer          -1.824         0.696          0.413          0              0              0
  58  StoveBurner     -0.535         0.922          4.274          0              0              0
  59  StoveBurner     -0.254         0.922          4.274          0              0              0
  60  StoveBurner     -0.536         0.922          4.672          0              0              0
  61  CounterTop      -2.780         0.971          3.487          0              0              0
  62  Drawer          -2.323         0.696          0.413          0              0              0
  63  StoveKnob       -0.064         1.090          4.632          0              0              73.865
  64  StoveKnob       -0.064         1.090          4.782          0              0              73.865
  65  StoveKnob       -0.064         1.090          4.382          0              0              73.865
  66  StoveKnob       -0.064         1.090          4.222          0              0              73.865
  67  Toaster         -0.286         0.861          3.520          0              270            0
  68  GarbageCan      -2.816         -0.014         0.370          358.702        26.614         2.400
  69  LightSwitch     -0.064         1.447          1.996          0              270            0
  70  Window          -3.075         1.593          1.361          90             90             0
  71  Fridge          -2.802         0.0            4.427          0              0              0
  72  SinkBasin       -1.106         0.785          0.337          0              0              0
  73  Microwave       -0.358         0.917          0.224          0              0              0
  74  CoffeeMachine   -2.938         0.925          3.605          0              90             0
  75  DiningTable     -2.733         -0.003         2.607          0              270            0
  76  Faucet          -1.077         0.920          0.028          270            270            0
  77  DiningTable     -0.488         -0.003         3.182          0              270            0
  78  NorthWall
  79  EastWall
  80  SouthWall
  81  WestWall

Plan:
STEP 1: Turn left and walk to the table beside the dishwasher. | STEP 2: Pick up the knife that is directly behind the head of lettuce.  | STEP 3: Move closer to the lettuce.  | STEP 4: Slice the left half of the lettuce on the table. | STEP 5: Place the knife on the table to the right of the lettuce | STEP 6: Pick up a slice of the lettuce from the table.  | STEP 7: Turn right and walk to the refrigerator.  | STEP 8: Place the slice of lettuce on the plate in the refrigerator. | STEP 9: Remove the plate with the lettuce on it from the refrigerator.  | STEP 10: Turn left and walk to the table beside the dishwasher.  | STEP 11: Place the plate with lettuce at the back of the table.  | END