Task: put a washed and sliced piece of Apple into 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           -1.0           0.899          5.75           0              0              0
   1  Pan             -2.924         0.930          2.012          0              0              0              55
   2  Potato          -4.204         0.956          1.951          0              0              0              72
   3  Potato          -4.458         0.956          3.082          0              0              0              72
   4  DishSponge      -1.777         0.923          1.951          0              0              0              54
   5  WineBottle      -1.943         0.924          1.951          0              0              0              54
   6  WineBottle      -3.639         0.069          6.292          0              270            0              98
   7  Spoon           -0.488         0.926          5.273          0              0              0              57
   8  Spoon           -0.181         0.926          5.932          0              0              0              57
   9  Spatula         -1.693         0.938          1.8            0              0              0              54
  10  Spatula         -0.258         0.940          4.944          0              0              0              57
  11  Cup             -1.943         0.922          1.8            0              0              0              54
  12  Egg             -0.411         0.960          5.603          0              0              0              57
  13  Egg             -0.488         0.960          4.615          0              0              0              57
  14  Plate           -0.258         0.925          4.615          0              0              0              57
  15  Tomato          -3.712         0.125          6.457          0              270            0              98
  16  Bowl            -0.259         1.682          3.794          0              270            0              105
  17  Bowl            -4.242         0.920          2.300          0              0              0              72
  18  SaltShaker      -4.033         0.919          4.900          0              90             0              72
  19  SaltShaker      -3.087         0.075          5.310          0              90             0              50
  20  Mug             -0.301         1.575          3.349          0              270            0              105
  21  Mug             -0.218         1.575          3.470          0              270            0              105
  22  Egg             -0.301         1.371          3.602          0              270            0              105
  23  Apple           -2.109         0.976          1.648          0              0              0              54
  24  Knife           -4.033         0.953          4.640          0              90             0              72
  25  Potato          -1.610         0.956          1.648          0              0              0              54
  26  Fork            -3.135         0.924          5.336          0              90             0              72
  27  Bowl            -0.454         1.067          3.355          0              270            0              105
  28  Plate           -0.401         1.071          3.850          0              270            0              105
  29  Lettuce         -4.191         1.003          2.538          0              278.173        0              72
  30  Bread           -4.234         0.990          3.985          0              0              0              72
  31  Tomato          -0.488         0.982          4.944          0              0              0              57
  32  WineBottle      -3.307         0.083          2.004          0              0              0              47
  33  Spatula         -0.181         0.940          5.273          0              0              0              57
  34  PaperTowelRoll  -3.748         0.172          6.333          0              270            0              98
  35  Cup             -4.411         0.922          4.640          0              90             0              72
  36  Pencil          -4.031         0.923          1.951          0              0              0              72
  37  Pan             -2.469         0.930          1.712          0              270            0              87
  38  Pot             -0.396         0.912          5.933          0              0              0              57
  39  SaltShaker      -3.613         0.919          5.566          0              90             0              72
  40  SoapBottle      -4.093         0.083          3.038          0              0              0              85
  41  PepperShaker    -3.124         0.741          5.192          0              180            0              84
  42  ButterKnife     -4.26          0.923          5.159          0              90             0              72
  43  DishSponge      -0.503         0.746          6.567          0              270            0              92
  44  Spoon           -0.503         0.747          5.189          0              270            0              51
  45  Mug             -0.409         0.955          6.557          0              270            0              93
  46  Cabinet         -3.203         1.931          1.777          0              0              0
  47  Cabinet         -3.187         0.390          2.089          0              0              0
  48  Cabinet         -0.637         0.387          6.882          0              180            0
  49  Drawer          -3.797         0.781          1.961          0              0              0
  50  Cabinet         -3.036         0.387          5.029          0              90             0
  51  Drawer          -0.509         0.775          5.268          0              270            0
  52  Drawer          -4.125         0.798          2.499          0              0              0
  53  Cabinet         -0.331         2.249          4.308          0              180            0
  54  CounterTop      -1.872         0.958          1.799          0              0              0
  55  StoveBurner     -2.924         0.924          2.012          0              0              0
  56  Cabinet         -0.331         2.249          6.806          0              180            0
  57  CounterTop      -0.345         0.960          5.603          0              0              0
  58  Cabinet         -3.039         1.935          5.321          0              90             0
  59  Cabinet         -3.922         0.397          2.088          0              0              0
  60  StoveBurner     -2.467         0.924          2.012          0              0              0
  61  Cabinet         -0.331         2.249          5.505          0              180            0
  62  Drawer          -0.509         0.775          4.617          0              270            0
  63  Drawer          -3.509         0.777          5.157          0              180            0
  64  Cabinet         -3.961         0.388          2.878          0              0              0
  65  Cabinet         -3.961         0.388          4.342          0              0              0
  66  Cabinet         -0.637         0.387          5.582          0              180            0
  67  Cabinet         -0.637         0.388          4.299          0              180            0
  68  Cabinet         -0.637         0.388          5.599          0              180            0
  69  StoveBurner     -2.924         0.924          1.712          0              180            0
  70  Drawer          -1.859         0.775          1.961          0              0              0
  71  Cabinet         -0.331         2.249          5.609          0              180            0
  72  CounterTop      -4.260         0.958          4.943          0              90             0
  73  Cabinet         -4.284         1.931          2.226          0              0              0
  74  Cabinet         -0.331         2.249          3.010          0              180            0
  75  Drawer          -3.801         0.777          5.157          0              180            0
  76  Cabinet         -4.112         1.935          5.321          0              90             0
  77  Cabinet         -3.968         0.388          3.662          0              0              0
  78  Drawer          -3.418         0.777          1.961          0              0              0
  79  Drawer          -4.090         0.777          4.661          0              90             0
  80  Faucet          -4.441         0.909          3.288          270            0              0
  81  Cabinet         -0.331         2.249          4.207          0              180            0
  82  Cabinet         -3.961         0.388          2.119          0              0              0
  83  Drawer          -0.509         0.775          5.920          0              270            0
  84  Drawer          -3.193         0.777          5.157          0              180            0
  85  Cabinet         -3.968         0.388          2.894          0              0              0
  86  Cabinet         -3.667         0.387          5.029          0              90             0
  87  StoveBurner     -2.469         0.924          1.712          0              270            0
  88  Cabinet         -1.539         0.388          2.090          0              0              0
  89  Sink            -4.190         0.921          3.279          0              0              0
  90  Cabinet         -3.641         0.387          5.029          0              90             0
  91  Cabinet         -1.583         1.931          1.777          0              0              0
  92  Drawer          -0.509         0.775          6.568          0              270            0
  93  CoffeeMachine   -0.279         0.912          6.556          0              270            0
  94  StoveKnob       -2.347         1.095          1.560          288.012        180            180
  95  StoveKnob       -2.788         1.095          1.560          288.012        180            180
  96  StoveKnob       -2.965         1.095          1.560          288.012        180            180
  97  StoveKnob       -2.512         1.095          1.560          288.012        180            180
  98  GarbageCan      -3.711         -0.030         6.376          0              270            0
  99  Toaster         -3.578         0.912          1.763          0              0              0
 100  Curtains        -4.522         2.252          3.391          90             90             0
 101  Window          -4.868         1.629          3.309          90             270            0
 102  Microwave       -2.693         1.430          1.689          0              0              0
 103  LightSwitch     -1.588         1.169          1.506          0              0              0
 104  SinkBasin       -4.196         0.780          3.276          0              270            0
 105  Fridge          -0.324         -0.001         3.602          0              0              0
 106  NorthWall
 107  EastWall
 108  SouthWall
 109  WestWall

Plan:
STEP 1: Turn and walk to the counter with a knife  | STEP 2: Pick up the knife that is on the counter  | STEP 3: Turn and walk to the counter with a  apple  | STEP 4: Slice  the potato that is on the counter  | STEP 5:  Turn and walk to the sink  | STEP 6: Put the knife into the sink  | STEP 7: Turn and walk to the counter with the sliced apple  | STEP 8: Pick up a piece of sliced apple  | STEP 9: Turn and walk to the sink  | STEP 10: 
Put the apple into the sink  | STEP 11: turn on the water wash the apple  take the apple out of the sink  | STEP 12: Walk to the refrigerator  put  the apple into the refrigerator  | END