Task: Place a lettuce slice on a tray on the small black table

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.75          0.900          -1.25          0              0              0
   1  Pan             -0.222         0.961          -2.243         0              0              0              57
   2  ButterKnife     -2.359         0.894          -0.204         0              270            0              75
   3  Cup             -0.211         0.943          -2.986         0              45             0              38
   4  Plate           -0.359         1.502          -0.646         0              270            0              68
   5  Plate           -0.653         0.094          -3.260         0              45             0              51
   6  Plate           -0.359         1.502          -0.994         0              270            0              68
   7  Knife           -2.560         0.920          -0.204         0              270            0              75
   8  Knife           -0.406         0.776          -2.792         0              90             0              43
   9  SoapBottle      -2.962         0.892          -0.633         0              270            0              75
  10  SoapBottle      -0.389         0.080          -1.449         0              0              0              54
  11  Lettuce         -2.761         0.985          -0.462         0              270            0              75
  12  SaltShaker      -0.394         0.937          -1.581         0              0              0              56
  13  SaltShaker      -0.278         1.935          -2.391         0              0              0              48
  14  Mug             -3.401         0.755          -3.068         0              199.125        0              74
  15  Apple           -1.471         1.003          -3.595         0              0              0              38
  16  Apple           -0.268         1.636          -2.043         0              270            0              70
  17  SoapBottle      -0.473         0.940          -2.670         0              0              0              38
  18  Pot             -0.437         0.961          -1.845         0              180            0              39
  19  Fork            -0.547         0.814          -3.318         0              45             0              67
  20  Cup             -3.553         0.760          -3.506         0              199.125        0              74
  21  Tomato          -3.399         0.810          -3.421         0              244.125        0              74
  22  Pan             -0.217         0.958          -2.215         0              45             0              57
  23  Plate           -3.935         0.774          -2.959         0              334.125        0              74
  24  Bread           -3.163         0.976          -0.462         0              270            0              75
  25  Spatula         -3.364         0.909          -0.204         0              270            0              75
  26  Knife           -3.369         0.785          -3.129         0              244.125        0              74
  27  SaltShaker      -2.362         0.938          -3.517         0              0              0              38
  28  PepperShaker    -0.495         0.743          -1.413         0              0              0              42
  29  ButterKnife     -0.663         0.813          -3.434         0              315            0              67
  30  Apple           -0.376         1.348          -0.878         0              270            0              68
  31  DishSponge      -0.473         0.940          -1.406         0              0              0              56
  32  Potato          -0.252         1.318          -0.878         0              270            0              68
  33  Egg             -3.629         0.801          -3.153         0              199.125        0              74
  34  Spoon           -3.224         0.761          -3.590         0              109.125        0              74
  35  Lettuce         -3.565         0.985          -0.548         0              270            0              75
  36  Mug             -2.514         0.972          -3.649         0              0              0              64
  37  Bowl            -0.334         1.284          -0.529         0              270            0              68
  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 to your left and walk to the front of the white table. | STEP 2: Pick up the knife with the yellow handle located to the back right of the head of lettuce. | STEP 3: Turn to your left and walk to the other end of the white table where there is a second head of lettuce. | STEP 4: Slice the second head of lettuce into sections. | STEP 5: Make one full counterclockwise rotation. | STEP 6: Place the knife on the black table to the left of the white table with the blade facing the wall to the left. | STEP 7: Turn to stand at the sliced head of lettuce on the white table. | STEP 8: Pick up the right end slice of the head of lettuce. | STEP 9: Turn to your left and walk towards the door, hang a left and walk to the gray tray on the round black table. | STEP 10: Place the slice of lettuce on the gray tray. | STEP 11: Pick up the tray on the table. | STEP 12: Turn around and walk to the small black table with the knife with the yellow handle on it. | STEP 13: Place the tray behind the knife directly behind the yellow handle. | END