Task: slice up an apple, cool it in the refrigerator, rinse it off with water

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 around, move to the opposite wall, then face the counter top on your right | STEP 2: pick up the knife behind the apple on the counter top | STEP 3: turn right to face the refrigerator | STEP 4: open the refrigerator door to slice the apple behind the potato on the shelf | STEP 5: close the refrigerator door for several seconds, then prepare to open it | STEP 6: open the refrigerator door and place the knife on the bottom shelf | STEP 7: close the door for a few seconds, then open it again to face the bottom shelf | STEP 8: take out a slice of apple on the bottom shelf | STEP 9: turn around and walk to the sink on the opposite side | STEP 10: place the apple in the sink, run the water, then remove the apple slice | STEP 11: go back to the refrigerator | STEP 12: open the door and place the apple slice to the left of the knife | END