Task: Place a cold and washed apple 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           -2.0           0.899          3.5            0              180            0
   1  Potato          -3.859         0.956          1.724          0              0              0              69
   2  Pot             -2.469         0.930          1.712          0              270            0              84
   3  Spatula         -0.181         0.940          5.932          0              90             0              54
   4  Spatula         -0.411         0.940          5.273          0              0              0              54
   5  Egg             -0.411         0.960          4.615          0              0              0              54
   6  Plate           -4.242         0.924          2.416          0              0              0              69
   7  Plate           -4.128         0.078          4.737          0              0              0              62
   8  SoapBottle      -0.237         2.134          5.997          0              180            0              68
   9  Bowl            -2.635         1.543          1.666          0              0              0              99
  10  Bowl            -0.342         1.332          3.602          0              270            0              102
  11  PepperShaker    -4.411         0.919          4.900          0              90             0              69
  12  PepperShaker    -3.772         0.741          5.103          0              180            0              72
  13  Lettuce         -0.342         1.676          3.409          0              270            0              102
  14  Bread           -0.488         1.004          4.944          0              0              0              54
  15  Bread           -3.494         1.003          5.336          0              90             0              69
  16  Apple           -3.733         0.976          5.566          0              90             0              69
  17  Apple           -0.242         1.124          3.850          0              270            0              102
  18  Apple           -1.693         0.976          1.724          0              0              0              51
  19  Egg             -3.340         0.959          2.026          0              0              0              69
  20  Apple           -0.411         0.978          5.932          0              0              0              103
  21  Knife           -0.334         0.954          5.932          0              90             0              54
  22  Potato          -0.348         1.104          3.850          0              270            0              102
  23  Fork            -4.26          0.924          5.418          0              90             0              69
  24  Bowl            -1.860         0.920          1.724          0              0              0              51
  25  Plate           -0.401         1.071          3.355          0              270            0              102
  26  Lettuce         -3.712         0.164          6.375          0              270            0              95
  27  Bread           -0.301         1.415          3.850          0              270            0              102
  28  Tomato          -0.301         1.742          3.915          0              270            0              102
  29  WineBottle      -2.026         0.924          1.648          0              0              0              51
  30  Spatula         -4.26          0.938          3.863          0              90             0              69
  31  PaperTowelRoll  -1.777         1.027          1.573          0              0              0              51
  32  Cup             -2.109         0.922          1.875          0              0              0              51
  33  Pencil          -3.859         0.923          2.026          0              0              0              69
  34  Pan             -2.454         0.933          2.023          0              240.000        0              57
  35  Pot             -2.924         0.930          1.712          0              180            0              66
  36  SaltShaker      -1.610         0.919          1.875          0              0              0              51
  37  SoapBottle      -4.108         0.923          4.900          0              90             0              69
  38  PepperShaker    -3.739         0.743          1.926          0              0              0              46
  39  ButterKnife     -2.026         0.923          2.026          0              0              0              51
  40  DishSponge      -0.334         0.924          4.944          0              0              0              54
  41  Spoon           -0.181         0.926          5.273          0              0              0              54
  42  Mug             -3.613         0.918          5.106          0              90             0              69
  43  Cabinet         -3.203         1.931          1.777          0              0              0
  44  Cabinet         -3.187         0.390          2.089          0              0              0
  45  Cabinet         -0.637         0.387          6.882          0              180            0
  46  Drawer          -3.797         0.781          1.961          0              0              0
  47  Cabinet         -3.036         0.387          5.029          0              90             0
  48  Drawer          -0.509         0.775          5.268          0              270            0
  49  Drawer          -4.125         0.798          2.499          0              0              0
  50  Cabinet         -0.331         2.249          4.308          0              180            0
  51  CounterTop      -1.872         0.958          1.799          0              0              0
  52  StoveBurner     -2.924         0.924          2.012          0              0              0
  53  Cabinet         -0.331         2.249          6.806          0              180            0
  54  CounterTop      -0.345         0.960          5.603          0              0              0
  55  Cabinet         -3.039         1.935          5.321          0              90             0
  56  Cabinet         -3.922         0.397          2.088          0              0              0
  57  StoveBurner     -2.467         0.924          2.012          0              0              0
  58  Cabinet         -0.331         2.249          5.505          0              180            0
  59  Drawer          -0.509         0.775          4.617          0              270            0
  60  Drawer          -3.509         0.777          5.157          0              180            0
  61  Cabinet         -3.961         0.388          2.878          0              0              0
  62  Cabinet         -3.961         0.388          4.342          0              0              0
  63  Cabinet         -0.637         0.387          5.582          0              180            0
  64  Cabinet         -0.637         0.388          4.299          0              180            0
  65  Cabinet         -0.637         0.388          5.599          0              180            0
  66  StoveBurner     -2.924         0.924          1.712          0              180            0
  67  Drawer          -1.859         0.775          1.961          0              0              0
  68  Cabinet         -0.331         2.249          5.609          0              180            0
  69  CounterTop      -4.260         0.958          4.943          0              90             0
  70  Cabinet         -4.284         1.931          2.226          0              0              0
  71  Cabinet         -0.331         2.249          3.010          0              180            0
  72  Drawer          -3.801         0.777          5.157          0              180            0
  73  Cabinet         -4.112         1.935          5.321          0              90             0
  74  Cabinet         -3.968         0.388          3.662          0              0              0
  75  Drawer          -3.418         0.777          1.961          0              0              0
  76  Drawer          -4.090         0.777          4.661          0              90             0
  77  Faucet          -4.441         0.909          3.288          270            0              0
  78  Cabinet         -0.331         2.249          4.207          0              180            0
  79  Cabinet         -3.961         0.388          2.119          0              0              0
  80  Drawer          -0.509         0.775          5.920          0              270            0
  81  Drawer          -3.193         0.777          5.157          0              180            0
  82  Cabinet         -3.968         0.388          2.894          0              0              0
  83  Cabinet         -3.667         0.387          5.029          0              90             0
  84  StoveBurner     -2.469         0.924          1.712          0              270            0
  85  Cabinet         -1.539         0.388          2.090          0              0              0
  86  Sink            -4.190         0.921          3.279          0              0              0
  87  Cabinet         -3.641         0.387          5.029          0              90             0
  88  Cabinet         -1.583         1.931          1.777          0              0              0
  89  Drawer          -0.509         0.775          6.568          0              270            0
  90  CoffeeMachine   -0.279         0.912          6.556          0              270            0
  91  StoveKnob       -2.347         1.095          1.560          288.012        180            180
  92  StoveKnob       -2.788         1.095          1.560          288.012        180            180
  93  StoveKnob       -2.965         1.095          1.560          288.012        180            180
  94  StoveKnob       -2.512         1.095          1.560          288.012        180            180
  95  GarbageCan      -3.711         -0.030         6.376          0              270            0
  96  Toaster         -3.578         0.912          1.763          0              0              0
  97  Curtains        -4.522         2.252          3.391          90             90             0
  98  Window          -4.868         1.629          3.309          90             270            0
  99  Microwave       -2.693         1.430          1.689          0              0              0
 100  LightSwitch     -1.588         1.169          1.506          0              0              0
 101  SinkBasin       -4.196         0.780          3.276          0              270            0
 102  Fridge          -0.324         -0.001         3.602          0              0              0
 103
 104  NorthWall
 105  EastWall
 106  SouthWall
 107  WestWall

Plan:
STEP 1: turn to the left twice and go to the wall and turn to the right and go to the counter top | STEP 2: take the yellow handle knife from counter top | STEP 3: turn to the right and go to the front of the refrigerator and turn to the left facing the refrigerator | STEP 4: open the refrigerator door and with the knife slice up the apple on the shelf and close the door | STEP 5: turn to the left twice and take a step and turn to the left twice facing the refrigerator | STEP 6: open the refrigerator door and put the knife on the shelf and close the door  | STEP 7: look up to the refrigerator door | STEP 8: open the refrigerator door and take an apple slice from the shelf and close the door  | STEP 9: turn to the right and take a step and turn to the right and go to the sink | STEP 10: put the apple slice in the sink and turn on the water to fill the sink and turn off and drain the water from the sink and pick up the apple slice from the sink | STEP 11: turn to the left twice and take a step and turn to the left and take a step and turn to the right and go to the refrigerator | STEP 12: open the refrigerator door and put the apple slice on the shelf and close the door  | END