Task: Slice a lettuce, put it into a pan, take them 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           -3.75          0.900          -1.5           0              270            0
   1  Potato          -3.882         0.723          -0.126         0              0              0              73
   2  DishSponge      -0.524         0.746          -1.413         0              0              0              42
   3  DishSponge      -0.528         1.503          -3.648         0              45             0              50
   4  Fork            -0.244         0.942          -2.611         0              0              0              38
   5  Fork            -3.621         0.760          -3.320         0              109.125        0              74
   6  Egg             -0.234         1.616          -1.990         0              270            0              70
   7  Plate           -0.136         1.956          -0.553         0              0              0              45
   8  Plate           -0.175         1.951          -1.108         0              0              0              46
   9  SoapBottle      -0.389         0.078          -2.906         0              0              0              51
  10  SoapBottle      -3.942         0.689          -0.369         0              0              0              73
  11  Bowl            -0.252         1.284          -0.297         0              270            0              68
  12  Bowl            -0.376         1.284          -0.762         0              270            0              68
  13  SaltShaker      -0.552         0.937          -1.581         0              0              0              56
  14  PepperShaker    -3.565         0.756          -3.432         0              244.125        0              74
  15  Apple           -2.452         0.161          -3.472         0              0              0              63
  16  Apple           -4.122         0.752          -0.491         0              0              0              73
  17  SoapBottle      -4.242         0.689          -0.491         0              0              0              73
  18  Pot             -0.606         0.802          -3.419         0              315            0              67
  19  Fork            -0.315         0.941          -1.538         0              0              0              56
  20  Cup             -0.214         0.943          -3.041         0              45             0              38
  21  Tomato          -0.321         1.539          -0.878         0              270            0              68
  22  Pan             -0.222         0.961          -2.243         0              0              0              57
  23  Plate           -0.324         1.517          -3.498         0              45             0              50
  24  Bread           -2.984         0.956          -0.311         0              50.592         0              75
  25  Spatula         -0.509         0.765          -2.792         0              90             0              43
  26  Knife           -4.002         0.716          -0.491         0              0              0              73
  27  SaltShaker      -0.251         1.498          -2.788         0              0              0              48
  28  PepperShaker    -1.117         0.078          -3.493         0              0              0              53
  29  ButterKnife     -1.471         0.942          -3.751         0              0              0              38
  30  Apple           -4.122         0.752          -0.308         0              0              0              73
  31  DishSponge      -0.315         0.940          -1.406         0              0              0              56
  32  Potato          -0.994         0.974          -3.733         0              45             0              38
  33  Egg             -0.701         0.854          -3.627         0              315            0              67
  34  Spoon           -3.474         0.761          -3.765         0              334.125        0              74
  35  Lettuce         -1.100         1.017          -3.623         0              0              0              38
  36  Mug             -0.321         1.483          -0.297         0              270            0              68
  37  Bowl            -4.002         0.688          -0.187         0              0              0              73
  38  CounterTop      -1.937         0.977          -3.673         0              0              0
  39  StoveBurner     -0.437         0.924          -1.845         0              180            0
  40  StoveBurner     -0.222         0.924          -1.845         0              180            0
  41  StoveBurner     -0.437         0.924          -2.243         0              0              0
  42  Drawer          -0.500         0.779          -1.450         0              0              0
  43  Drawer          -0.481         0.777          -2.739         0              0              0
  44  Drawer          -1.154         0.782          -3.499         0              0              0
  45  Cabinet         -0.337         2.110          -0.390         0              0              0
  46  Cabinet         -0.337         2.110          -1.272         0              0              0
  47  Cabinet         -0.337         2.110          -1.631         0              0              0
  48  Cabinet         -0.337         2.110          -2.497         0              0              0
  49  Cabinet         -0.337         1.891          -1.286         0              0              0
  50  Cabinet         -0.346         1.891          -3.293         0              0              0
  51  Cabinet         -0.629         0.388          -2.513         0              0              0
  52  Cabinet         -0.633         0.388          -3.008         0              0              0
  53  Cabinet         -1.010         0.388          -3.368         0              0              0
  54  Cabinet         -0.629         0.388          -1.614         0              0              0
  55  Cabinet         -0.327         1.886          -2.513         0              0              0
  56  CounterTop      -0.326         0.976          -1.450         0              0              0
  57  StoveBurner     -0.222         0.924          -2.243         0              0              0
  58  Sink            -0.600         0.929          -3.388         0              0              0
  59  StoveKnob       -0.617         0.899          -1.833         315            90             180
  60  StoveKnob       -0.617         0.899          -2.129         315            90             180
  61  StoveKnob       -0.617         0.899          -2.289         315            90             180
  62  StoveKnob       -0.617         0.899          -1.975         315            90             180
  63  GarbageCan      -2.418         -0.032         -3.541         0              0              0
  64  CoffeeMachine   -2.513         0.930          -3.797         0              0              0
  65  Window          -1.389         1.610          -4.113         90             0              0
  66  LightSwitch     -4.372         1.493          -1.031         0              90             0
  67  SinkBasin       -0.614         0.802          -3.384         0              315            0
  68  Fridge          -0.314         0.0            -0.646         0              0              0
  69  Toaster         -1.970         0.930          -3.763         0              0              0
  70  Microwave       -0.216         1.470          -2.054         0              270            0
  71  Blinds          -1.373         2.205          -3.961         0              0              0
  72  Faucet          -0.393         0.930          -3.614         270            225            0
  73  SideTable       -4.030         0.002          -0.301         0              185.034        0
  74  DiningTable     -3.586         0.000          -3.258         0              0              0
  75  DiningTable     -3.224         -0.003         -0.453         0              0              0
  76  Shelf           -4.030         0.259          -0.301         0              185.034        0
  77  Shelf           -4.030         0.489          -0.301         0              185.034        0
  78  EastWall
  79  EastWall
  80  SouthWall

Plan:
STEP 1: Turn right and go towards the shelf unit. | STEP 2: Pick up the big knife on the top shelf | STEP 3: Turn right and go to the the fridge, turn right and go to the counter | STEP 4: Slice the lettuce on the counter | STEP 5: Turn left, go forward then then turn right at the stove | STEP 6: Put the knife into the pan on the stove | STEP 7: Turn right, go to the counter  | STEP 8: Pick up a slice of lettuce on the counter | STEP 9: Turn left, go forward then then turn right at the stove | STEP 10: Put the lettuce slice into the pan | STEP 11: Take the pan with the lettuce slice and knife | STEP 12: Turn right twice, go towards the door, turn left at the door | STEP 13: Put the pan on the table | END