Task: put a slice of an apple inside a pot into a refrigerator

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -3.0           0.900          0.75           0              270            0
   1  Potato          1.104          1.798          -1.562         0              0              0              76
   2  Book            -2.300         0.875          2.863          0              135            0              54
   3  Book            -2.964         0.871          3.632          0              135            0              54
   4  ButterKnife     0.234          0.928          -1.573         0              270            0              49
   5  ButterKnife     -2.420         0.874          2.983          0              135            0              54
   6  WineBottle      1.699          1.656          -1.747         0              0              0              62
   7  Spatula         0.755          0.927          -1.776         0              90             0              52
   8  Spatula         -1.616         0.734          -0.788         0              270            0              67
   9  Egg             -0.149         0.828          2.251          0              180            0              77
  10  Cup             0.307          0.801          1.966          0              180            0              77
  11  Plate           -2.088         0.123          -1.506         0              0              0              53
  12  Knife           -2.845         0.900          2.930          0              45             0              54
  13  Tomato          -0.263         0.436          1.996          0              180            0              77
  14  Bowl            0.997          2.154          -1.710         0              0              0              66
  15  Bowl            -2.644         0.876          2.997          0              315            0              54
  16  PepperShaker    -1.888         1.653          -1.637         0              0              0              65
  17  PepperShaker    3.634          0.877          1.861          0              270            0              73
  18  Bread           0.193          1.655          2.160          0              180            0              77
  19  Lettuce         -2.321         0.939          3.296          0              270            0              54
  20  Book            -1.94          0.900          -1.693         0              0              0              71
  21  Fork            1.760          0.910          -1.709         0              90             0              72
  22  Tomato          -0.377         1.191          2.246          0              180            0              77
  23  Egg             0.307          1.169          2.286          0              180            0              77
  24  Kettle          -0.833         0.900          -1.757         0              0              0              52
  25  Vase            -2.152         0.879          3.073          0              270            0              54
  26  Cup             -0.149         1.570          2.279          0              180            0              77
  27  WineBottle      -3.165         0.875          3.147          0              270            0              54
  28  Plate           -2.659         0.878          3.559          0              0              0              54
  29  Spatula         -2.996         0.893          3.370          0              270            0              54
  30  Potato          -0.871         0.229          2.136          0              90             0              82
  31  Pot             0.974          0.957          -1.688         0              180            0              51
  32  Knife           -2.487         0.896          3.154          0              135            0              54
  33  SaltShaker      3.637          0.549          1.553          0              270            0              75
  34  PepperShaker    -0.459         0.118          -1.492         0              0              0              61
  35  Lettuce         0.571          0.977          -1.369         0              0              0              52
  36  ButterKnife     -1.849         0.912          -1.265         0              0              0              52
  37  Bread           -2.196         0.958          3.475          0              225            0              54
  38  Vase            3.741          0.553          1.449          0              270            0              75
  39  DishSponge      -2.001         1.657          -1.674         0              0              0              48
  40  Apple           -0.330         0.752          -1.468         0              270            0              81
  41  Pan             0.972          0.959          -1.426         0              0              0              70
  42  Spoon           -2.554         0.879          3.326          0              135            0              54
  43  SoapBottle      0.124          0.929          -1.646         0              270            0              49
  44  Mug             1.263          1.756          -1.663         0              0              0              76
  45  Statue          -1.627         0.919          0.363          0              0              0              52
  46  Statue          3.668          0.540          1.800          0              0              0              75
  47  Bowl            -1.849         0.910          -0.614         0              0              0              52
  48  Cabinet         -2.171         2.009          -1.538         0              0              0
  49  Sink            0.024          0.771          -1.708         0              270            0
  50  Cabinet         1.444          2.259          -1.542         0              0              0
  51  StoveBurner     0.974          0.957          -1.688         0              180            0
  52  CounterTop      -1.866         0.947          -0.614         0              0              0
  53  Cabinet         -2.217         0.373          -1.874         0              0              0
  54  DiningTable     -2.663         0.002          3.208          0              0              0
  55  StoveBurner     1.328          0.957          -1.688         0              180            0
  56  StoveBurner     1.328          0.957          -1.420         0              180            0
  57  Cabinet         -1.478         0.373          -1.235         0              0              0
  58  Cabinet         1.775          0.372          -1.242         0              0              0
  59  Cabinet         0.774          0.372          -1.242         0              0              0
  60  Cabinet         0.375          0.372          -1.242         0              0              0
  61  Cabinet         -0.574         0.372          -1.238         0              0              0
  62  Cabinet         1.775          2.009          -1.542         0              0              0
  63  Cabinet         0.524          2.009          -1.542         0              0              0
  64  Cabinet         -0.714         2.009          -1.542         0              0              0
  65  Cabinet         -1.671         2.009          -1.538         0              0              0
  66  Cabinet         0.854          2.259          -1.542         0              0              0
  67  Drawer          -1.636         0.683          -0.930         0              0              0
  68  Drawer          1.650          0.682          -1.396         0              0              0
  69  Drawer          0.600          0.682          -1.396         0              0              0
  70  StoveBurner     0.974          0.957          -1.419         0              180            0
  71  Drawer          -2.062         0.683          -1.579         0              0              0
  72  CounterTop      1.645          0.945          -1.527         0              0              0
  73  Shelf           3.725          0.880          1.671          0              90             0
  74  LightSwitch     2.830          1.266          -0.748         0              0              0
  75  Shelf           3.726          0.552          1.671          0              90             0
  76  Microwave       1.150          1.655          -1.614         0              0              0
  77  Fridge          -0.035         0.0            2.177          0              180            0
  78  Window          -0.115         1.802          -1.896         90             0              0
  79  Window          -4.009         1.799          0.310          90             90             0
  80  Shelf           3.726          0.172          1.671          0              90             0
  81  SinkBasin       -0.330         0.686          -1.581         0              270            0
  82  GarbageCan      -0.870         -0.001         2.136          0              90             0
  83  StoveKnob       1.089          0.913          -1.243         45             0              0
  84  StoveKnob       1.208          0.913          -1.243         45             0              0
  85  StoveKnob       1.340          0.913          -1.243         45             0              0
  86  StoveKnob       0.961          0.913          -1.243         45             0              0
  87  Toaster         1.637          0.900          -1.673         0              0              0
  88  Chair           -3.505         0.002          3.290          0              105.736        0
  89  CoffeeMachine   -1.111         0.900          -1.726         0              0              0
  90  HousePlant      -2.663         0.835          3.209          0              0              0
  91  Faucet          -0.187         0.922          -1.75          0              311.166        0
  92  ShelvingUnit    3.726          0.006          1.671          0              90             0
  93  Stool           -2.501         -0.000         0.062          1.223          91.243         0
  94  Stool           -2.475         -0.000         -0.802         1.209          69.808         0
  95  Chair           -2.934         0.002          2.437          0              28.531         0
  96  Chair           -1.698         0.002          3.235          0              245.204        0
  97  NorthWall
  98  EastWall
  99  SouthWall
 100  WestWall

Plan:
STEP 1: turn to the right go forward towards the brown table | STEP 2: pick the knife from the table | STEP 3: turn to the right go forward go right towards the sink | STEP 4: slice an apple that is inside the sink  | STEP 5: turn to the left go forward towards the refrigerator | STEP 6: put the knife inside the refrigerator | STEP 7: turn around to the left go forward towards the sink | STEP 8: pick up a piece of the apple from the sink | STEP 9: turn to the left towards the stove  | STEP 10: put the piece of apple inside the pot that is on the stove | STEP 11: pick up the pot from the stove | STEP 12: turn around to the right go right towards the refrigerator | STEP 13: put the pot inside the refrigerator | END