Task: Place clean lettuce slice on middle rack of refrigerator

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.5            0.900          -0.25          0              90             0
   1  Kettle          0.753          0.920          -1.649         0              270            0              46
   2  Kettle          0.209          0.109          -1.509         0              180            0              45
   3  DishSponge      0.167          0.911          0.292          0              0              0              47
   4  DishSponge      1.289          0.911          -1.737         0              0              0              48
   5  Pot             1.007          0.962          0.561          0              270            0              50
   6  Fork            -1.928         0.952          0.614          0              90             0              81
   7  Spatula         0.167          0.927          0.623          0              0              0              47
   8  Spatula         -2.614         0.967          0.435          0              180            0              81
   9  Egg             -2.397         1.086          -1.806         0              0              0              78
  10  Cup             1.754          1.327          -1.809         0              180            0              64
  11  Knife           -1.928         0.977          0.345          0              270            0              81
  12  SoapBottle      1.781          0.910          -1.406         0              0              0              48
  13  SaltShaker      -0.129         0.102          0.204          0              0              0              58
  14  Bread           1.658          0.995          -1.489         0              0              0              48
  15  Bread           -0.096         0.995          0.375          0              0              0              47
  16  Lettuce         -2.065         1.042          0.524          0              90             0              81
  17  Apple           -1.959         1.559          -1.806         0              0              0              78
  18  Apple           -0.427         0.137          0.482          0              90             0              77
  19  Bread           1.299          0.978          -1.532         0              0              0              48
  20  Knife           -2.203         0.977          0.435          0              180            0              81
  21  Fork            -2.614         0.952          0.345          0              90             0              81
  22  Bowl            -0.975         1.014          -1.737         0              0              0              70
  23  Kettle          -0.055         0.9            0.643          0              0              0              47
  24  Cup             -0.079         0.104          0.397          0              0              0              58
  25  Tomato          -2.222         0.560          -1.849         0              0              0              78
  26  SoapBottle      -1.928         0.950          0.255          0              90             0              81
  27  Plate           -0.110         0.900          -1.596         0              0              0              48
  28  Pot             1.361          0.962          0.561          0              270            0              53
  29  Spatula         0.908          0.934          -1.516         0              270            0              46
  30  PaperTowelRoll  -2.340         1.056          0.345          0              90             0              81
  31  Egg             -0.361         0.105          0.396          0              90             0              77
  32  Lettuce         1.724          1.002          0.375          0              0              0              63
  33  SaltShaker      1.412          0.908          -1.820         0              0              0              48
  34  PepperShaker    -2.340         0.948          0.704          0              90             0              81
  35  Apple           -1.872         0.578          -1.763         0              0              0              78
  36  ButterKnife     1.785          0.912          0.540          0              0              0              63
  37  Potato          -0.329         0.100          0.482          0              90             0              77
  38  Pan             1.022          0.959          0.288          0              219.190        0              60
  39  DishSponge      -0.082         0.911          -1.903         0              0              0              48
  40  Spoon           -0.020         0.775          0.273          0              90             0              54
  41  Mug             0.300          0.907          0.292          0              0              0              47
  42  Cabinet         -0.193         1.688          -1.648         0              180            0
  43  StoveBurner     1.360          0.957          0.293          0              180            0
  44  Drawer          0.499          0.792          0.296          0              0              0
  45  Cabinet         0.095          0.400          -1.352         0              180            0
  46  Sink            0.711          0.817          -1.772         0              270            0
  47  CounterTop      0.280          0.947          0.458          0              0              0
  48  CounterTop      -0.680         0.947          -1.654         0              0              0
  49  Drawer          1.825          0.792          0.296          0              0              0
  50  StoveBurner     1.007          0.957          0.561          0              270            0
  51  Drawer          -0.150         0.792          -1.496         0              0              0
  52  Drawer          -0.586         0.792          -1.496         0              0              0
  53  StoveBurner     1.360          0.957          0.561          0              270            0
  54  Drawer          0.024          0.792          0.296          0              0              0
  55  Cabinet         1.079          0.400          -1.349         0              180            0
  56  Cabinet         1.669          0.402          0.151          0              0              0
  57  Cabinet         0.055          0.402          -1.351         0              0              0
  58  Cabinet         -0.180         0.402          0.151          0              0              0
  59  Cabinet         0.729          0.402          0.151          0              0              0
  60  StoveBurner     1.007          0.957          0.293          0              180            0
  61  Drawer          -1.100         0.792          -1.496         0              0              0
  62  Cabinet         -0.396         0.402          -1.351         0              0              0
  63  CounterTop      1.776          0.947          0.458          0              0              0
  64  Cabinet         1.974          1.688          -1.648         0              180            0
  65  Cabinet         -0.820         0.400          -1.349         0              180            0
  66  Toaster         0.305          0.900          0.552          0              180            0
  67  LightSwitch     -2.756         1.307          -0.987         0              90             0
  68  Window          0.582          1.613          -1.967         90             0              0
  69  Window          1.969          1.5            -0.615         90             270            0
  70  Microwave       -1.037         0.900          -1.723         0              0              0
  71  SinkBasin       0.377          0.765          -1.655         0              270            0
  72  CoffeeMachine   0.618          0.900          0.600          0              180            0
  73  StoveKnob       1.246          0.913          0.118          45             180            0
  74  StoveKnob       1.373          0.913          0.118          45             180            0
  75  StoveKnob       0.995          0.913          0.118          45             180            0
  76  StoveKnob       1.126          0.913          0.118          45             180            0
  77  GarbageCan      -0.368         -0.029         0.539          0              90             0
  78  Fridge          -2.134         0.0            -1.690         0              0              0
  79  Faucet          0.549          1.046          -1.833         0              232.527        0
  80  Stool           -1.475         0.000          0.414          1.233          280.375        0
  81  DiningTable     -2.255         -0.004         0.432          0              0              0
  82  NorthWall
  83  EastWall
  84  SouthWall
  85  WestWall

Plan:
STEP 1: go forward to counter with lettuce | STEP 2: pick up knife from counter behind lettuce | STEP 3: place knife on counter in front of lettuce | STEP 4: slice lettuce on counter | STEP 5: pick up slice of lettuce from counter | STEP 6: turn around, go to sink | STEP 7: place lettuce in sink, fill sink with water, remove lettuce from sink | STEP 8: go to refrigerator to the right | STEP 9: place lettuce on middle rack of refrigerator | END