Task: drop a plate on the shelf with a knife with a slice of lettuce on it

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -2.25          0.900          -1.75          0              90             0
   1  Potato          -3.163         0.926          -0.376         0              270            0              83
   2  DishSponge      -0.427         0.081          -1.370         0              0              0              62
   3  Fork            -3.204         0.760          -3.531         0              109.125        0              82
   4  Fork            -1.051         0.942          -3.738         0              135            0              46
   5  Spoon           -3.163         0.895          -0.548         0              270            0              83
   6  Spatula         -3.396         0.775          -3.073         0              154.125        0              82
   7  Spatula         -0.078         0.956          -1.406         0              0              0              64
   8  Plate           -0.136         1.951          -1.002         0              0              0              54
   9  Plate           -3.629         0.774          -3.153         0              199.125        0              82
  10  Knife           -0.078         0.966          -1.494         0              90             0              64
  11  SoapBottle      -2.485         0.097          -3.538         0              0              0              71
  12  Tomato          -0.321         1.539          -0.878         0              270            0              76
  13  Tomato          -1.248         0.993          -3.517         0              0              0              46
  14  Bowl            -0.283         1.487          -0.413         0              270            0              76
  15  Bowl            -0.173         1.500          -2.964         0              0              0              63
  16  Bread           -3.952         0.841          -3.342         0              244.125        0              82
  17  Bread           -4.182         0.771          -0.248         0              0              0              81
  18  SaltShaker      -3.831         0.756          -3.737         0              199.125        0              82
  19  SaltShaker      -3.942         0.686          -0.369         0              0              0              81
  20  PepperShaker    -0.394         0.937          -1.450         0              0              0              64
  21  PepperShaker    -2.359         0.890          -0.376         0              270            0              83
  22  Mug             -3.654         0.755          -2.822         0              334.125        0              82
  23  Mug             -0.252         1.281          -0.646         0              270            0              76
  24  Apple           -3.565         0.956          -0.462         0              270            0              83
  25  SoapBottle      -0.545         1.501          -3.719         0              45             0              58
  26  Pot             -0.437         0.961          -1.845         0              180            0              47
  27  Fork            -0.321         0.942          -2.729         0              0              0              46
  28  Cup             -0.473         0.943          -2.611         0              0              0              46
  29  Tomato          -0.263         0.993          -2.934         0              45             0              46
  30  Pan             -0.222         0.961          -2.243         0              0              0              65
  31  Plate           -0.283         1.502          -0.646         0              270            0              76
  32  Bread           -3.565         0.976          -0.204         0              270            0              83
  33  Spatula         -1.471         0.957          -3.751         0              0              0              46
  34  Knife           -4.002         0.716          -0.308         0              0              0              81
  35  SaltShaker      -3.474         0.756          -3.765         0              334.125        0              82
  36  PepperShaker    -0.100         0.938          -2.979         0              45             0              46
  37  ButterKnife     -3.561         0.760          -3.340         0              199.125        0              82
  38  Apple           -0.134         1.636          -2.096         0              270            0              78
  39  DishSponge      -1.185         0.752          -3.534         0              0              0              52
  40  Potato          -0.552         0.973          -1.406         0              0              0              64
  41  Egg             -1.196         0.983          -3.777         0              45             0              46
  42  Spoon           -0.740         0.814          -3.588         0              45             0              75
  43  Lettuce         -2.560         0.985          -0.462         0              270            0              83
  44  Mug             -3.434         0.755          -3.253         0              109.125        0              82
  45  Bowl            -0.293         1.284          -0.878         0              270            0              76
  46  CounterTop      -1.937         0.977          -3.673         0              0              0
  47  StoveBurner     -0.437         0.924          -1.845         0              180            0
  48  StoveBurner     -0.222         0.924          -1.845         0              180            0
  49  StoveBurner     -0.437         0.924          -2.243         0              0              0
  50  Drawer          -0.500         0.779          -1.450         0              0              0
  51  Drawer          -0.481         0.777          -2.739         0              0              0
  52  Drawer          -1.154         0.782          -3.499         0              0              0
  53  Cabinet         -0.337         2.110          -0.390         0              0              0
  54  Cabinet         -0.337         2.110          -1.272         0              0              0
  55  Cabinet         -0.337         2.110          -1.631         0              0              0
  56  Cabinet         -0.337         2.110          -2.497         0              0              0
  57  Cabinet         -0.337         1.891          -1.286         0              0              0
  58  Cabinet         -0.346         1.891          -3.293         0              0              0
  59  Cabinet         -0.629         0.388          -2.513         0              0              0
  60  Cabinet         -0.633         0.388          -3.008         0              0              0
  61  Cabinet         -1.010         0.388          -3.368         0              0              0
  62  Cabinet         -0.629         0.388          -1.614         0              0              0
  63  Cabinet         -0.327         1.886          -2.513         0              0              0
  64  CounterTop      -0.326         0.976          -1.450         0              0              0
  65  StoveBurner     -0.222         0.924          -2.243         0              0              0
  66  Sink            -0.600         0.929          -3.388         0              0              0
  67  StoveKnob       -0.617         0.899          -1.833         315            90             180
  68  StoveKnob       -0.617         0.899          -2.129         315            90             180
  69  StoveKnob       -0.617         0.899          -2.289         315            90             180
  70  StoveKnob       -0.617         0.899          -1.975         315            90             180
  71  GarbageCan      -2.418         -0.032         -3.541         0              0              0
  72  CoffeeMachine   -2.513         0.930          -3.797         0              0              0
  73  Window          -1.389         1.610          -4.113         90             0              0
  74  LightSwitch     -4.372         1.493          -1.031         0              90             0
  75  SinkBasin       -0.614         0.802          -3.384         0              315            0
  76  Fridge          -0.314         0.0            -0.646         0              0              0
  77  Toaster         -1.970         0.930          -3.763         0              0              0
  78  Microwave       -0.216         1.470          -2.054         0              270            0
  79  Blinds          -1.373         2.205          -3.961         0              0              0
  80  Faucet          -0.393         0.930          -3.614         270            225            0
  81  SideTable       -4.030         0.002          -0.301         0              185.034        0
  82  DiningTable     -3.586         0.000          -3.258         0              0              0
  83  DiningTable     -3.224         -0.003         -0.453         0              0              0
  84  Shelf           -4.030         0.259          -0.301         0              185.034        0
  85  Shelf           -4.030         0.489          -0.301         0              185.034        0
  86  EastWall
  87  EastWall
  88  SouthWall

Plan:
STEP 1: turn left and head for the shelf | STEP 2: pick up the knife | STEP 3: turn right and head for the lettuce on  the table | STEP 4: slice the lettuce with the knife | STEP 5: turn around towards the table | STEP 6: drop the knife on a plate on the table | STEP 7: turn around towards the table  | STEP 8: pick up a slice from the lettuce | STEP 9: turn around towards the table | STEP 10: drop the slice on the plate | STEP 11: pick up the plate | STEP 12: turn around and head for the shelf | STEP 13: drop the plate on the shelf | END