Task: place a lettuce slice in the refrigerator

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.75          0.900          -0.25          0              90             0
   1  Pan             -0.451         0.911          -1.654         0              180            0              52
   2  Pan             1.361          0.962          0.561          0              270            0              57
   3  Potato          -1.928         0.982          0.165          0              90             0              85
   4  Potato          -2.047         1.081          -1.763         0              0              0              82
   5  ButterKnife     -2.203         0.952          0.524          0              90             0              85
   6  Fork            1.724          0.912          0.375          0              0              0              67
   7  Fork            -0.540         0.774          -1.505         0              0              0              56
   8  Spoon           -0.451         0.913          -1.737         0              0              0              52
   9  Spoon           0.377          0.784          -1.648         0              270            0              75
  10  Spatula         0.908          0.934          -1.582         0              0              0              50
  11  Cup             -2.222         0.509          -1.806         0              0              0              82
  12  Cup             1.901          1.327          -1.846         0              180            0              68
  13  Knife           1.781          0.937          -1.820         0              0              0              52
  14  SoapBottle      0.960          0.918          -1.449         0              270            0              50
  15  Tomato          -2.614         1.001          0.614          0              90             0              85
  16  Tomato          -1.791         1.001          0.704          0              90             0              85
  17  SaltShaker      -2.614         0.948          0.345          0              90             0              85
  18  PepperShaker    -0.079         0.102          0.281          0              0              0              62
  19  Lettuce         1.846          1.002          0.540          0              0              0              67
  20  Mug             -0.198         0.105          -1.582         0              0              0              61
  21  Apple           1.903          0.979          -1.571         0              0              0              52
  22  Apple           -0.329         0.137          0.569          0              90             0              81
  23  Bread           1.305          0.978          -1.530         0              0              0              52
  24  Knife           0.649          0.944          -1.582         0              270            0              50
  25  Fork            -2.065         0.952          0.255          0              90             0              85
  26  Bowl            1.167          0.911          -1.820         0              0              0              52
  27  Kettle          -0.055         0.9            0.643          0              0              0              51
  28  Cup             -0.096         0.910          0.209          0              0              0              51
  29  Tomato          0.035          0.961          0.292          0              0              0              51
  30  SoapBottle      0.753          0.918          -1.449         0              270            0              50
  31  Plate           -2.340         0.953          0.524          0              90             0              85
  32  Pot             1.007          0.962          0.561          0              270            0              54
  33  Spatula         1.535          0.907          -1.489         0              0              0              52
  34  PaperTowelRoll  0.564          1.016          0.292          0              0              0              51
  35  Egg             0.271          0.811          -1.648         0              270            0              75
  36  Lettuce         -1.928         1.042          0.435          0              90             0              85
  37  SaltShaker      0.300          0.908          0.292          0              0              0              51
  38  PepperShaker    1.535          0.908          -1.737         0              0              0              52
  39  Apple           -0.975         1.082          -1.770         0              0              0              74
  40  ButterKnife     0.167          0.912          0.458          0              0              0              51
  41  Potato          -0.923         1.045          -1.671         0              0              0              74
  42  Pan             1.022          0.959          0.288          0              219.190        0              64
  43  DishSponge      -0.082         0.911          -1.903         0              0              0              52
  44  Spoon           1.724          0.913          0.209          0              0              0              67
  45  Mug             1.792          0.103          0.274          0              0              0              60
  46  Cabinet         -0.193         1.688          -1.648         0              180            0
  47  StoveBurner     1.360          0.957          0.293          0              180            0
  48  Drawer          0.499          0.792          0.296          0              0              0
  49  Cabinet         0.095          0.400          -1.352         0              180            0
  50  Sink            0.711          0.817          -1.772         0              270            0
  51  CounterTop      0.280          0.947          0.458          0              0              0
  52  CounterTop      -0.680         0.947          -1.654         0              0              0
  53  Drawer          1.825          0.792          0.296          0              0              0
  54  StoveBurner     1.007          0.957          0.561          0              270            0
  55  Drawer          -0.150         0.792          -1.496         0              0              0
  56  Drawer          -0.586         0.792          -1.496         0              0              0
  57  StoveBurner     1.360          0.957          0.561          0              270            0
  58  Drawer          0.024          0.792          0.296          0              0              0
  59  Cabinet         1.079          0.400          -1.349         0              180            0
  60  Cabinet         1.669          0.402          0.151          0              0              0
  61  Cabinet         0.055          0.402          -1.351         0              0              0
  62  Cabinet         -0.180         0.402          0.151          0              0              0
  63  Cabinet         0.729          0.402          0.151          0              0              0
  64  StoveBurner     1.007          0.957          0.293          0              180            0
  65  Drawer          -1.100         0.792          -1.496         0              0              0
  66  Cabinet         -0.396         0.402          -1.351         0              0              0
  67  CounterTop      1.776          0.947          0.458          0              0              0
  68  Cabinet         1.974          1.688          -1.648         0              180            0
  69  Cabinet         -0.820         0.400          -1.349         0              180            0
  70  Toaster         0.305          0.900          0.552          0              180            0
  71  LightSwitch     -2.756         1.307          -0.987         0              90             0
  72  Window          0.582          1.613          -1.967         90             0              0
  73  Window          1.969          1.5            -0.615         90             270            0
  74  Microwave       -1.037         0.900          -1.723         0              0              0
  75  SinkBasin       0.377          0.765          -1.655         0              270            0
  76  CoffeeMachine   0.618          0.900          0.600          0              180            0
  77  StoveKnob       1.246          0.913          0.118          45             180            0
  78  StoveKnob       1.373          0.913          0.118          45             180            0
  79  StoveKnob       0.995          0.913          0.118          45             180            0
  80  StoveKnob       1.126          0.913          0.118          45             180            0
  81  GarbageCan      -0.368         -0.029         0.539          0              90             0
  82  Fridge          -2.134         0.0            -1.690         0              0              0
  83  Faucet          0.549          1.046          -1.833         0              232.527        0
  84  Stool           -1.475         0.000          0.414          1.233          280.375        0
  85  DiningTable     -2.255         -0.004         0.432          0              0              0
  86  NorthWall
  87  EastWall
  88  SouthWall
  89  WestWall

Plan:
STEP 1: advance to counter with tomato, turn left to face that counter | STEP 2: pick up the knife | STEP 3: turn right, go forward to the window, turn left | STEP 4: chop lettuce with the knife | STEP 5: put the knife across the fork and spoon | STEP 6: take slice of lettuce | STEP 7: turn left, advance to sink, turn left, advance to sink | STEP 8: place lettuce in sink, rinse lettuce with water from faucet, take lettuce from sink | STEP 9: turn right, advance to refrigerator, turn left | STEP 10: open refrigerator, place lettuce on middle shelf in refrigerator, close refrigerator | END