Task: cut an apple slice to place it inside a sauce pan inside the fridge

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            0.900          6.75           0              0              0
   1  Pan             0.262          0.142          0.506          0              90             0              68
   2  Potato          0.169          0.794          6.807          0              225            0              95
   3  DishSponge      -0.006         0.759          6.414          0              135            0              95
   4  DishSponge      -0.617         0.770          0.507          0              0              0              55
   5  ButterKnife     1.238          0.770          4.717          0              180            0              49
   6  ButterKnife     1.292          0.771          3.360          0              0              0              52
   7  Kettle          1.562          0.988          3.848          0              0              0              53
   8  Pot             1.32           0.988          3.848          0              0              0              58
   9  Spoon           -0.159         0.761          6.014          0              0              0              95
  10  Spoon           1.332          0.892          2.239          0              180            0              82
  11  Egg             -0.346         0.810          6.941          0              0              0              95
  12  Cup             0.080          0.756          6.895          0              225            0              95
  13  Plate           1.493          0.993          0.440          0              0              0              59
  14  Knife           1.387          0.920          2.576          0              270            0              82
  15  Knife           0.771          1.022          0.670          0              0              0              59
  16  Tomato          1.493          1.042          1.350          0              0              0              59
  17  SoapBottle      2.104          0.080          6.409          0              0              0              83
  18  PepperShaker    1.657          0.135          2.498          0              0              0              71
  19  Lettuce         0.058          0.848          6.261          0              135            0              95
  20  Mug             -0.159         0.755          6.632          0              0              0              95
  21  Apple           -0.072         0.834          6.830          0              225            0              95
  22  Apple           0.620          1.067          0.670          0              0              0              59
  23  Apple           1.497          0.965          2.474          0              90             0              82
  24  Bowl            1.490          0.139          2.794          0              0              0              71
  25  Bread           -0.466         0.829          6.609          0              135            0              95
  26  Egg             0.064          1.147          0.213          0              0              0              75
  27  Knife           -0.312         0.789          6.354          0              180            0              95
  28  Fork            0.696          0.993          0.486          0              0              0              59
  29  Apple           1.357          1.058          3.229          0              0              0              59
  30  Kettle          -0.014         0.145          0.277          0              0              0              68
  31  Plate           1.238          0.141          2.572          0              0              0              71
  32  SaltShaker      -0.443         0.755          6.851          0              135            0              95
  33  Lettuce         1.449          0.932          2.050          0              0              0              82
  34  SoapBottle      1.135          0.992          4.579          0              0              0              60
  35  Spatula         0.532          0.787          0.451          0              90             0              51
  36  PaperTowelRoll  2.006          0.185          6.439          0              0              0              83
  37  Pot             -0.483         0.145          0.353          0              0              0              67
  38  Potato          -0.621         0.794          6.541          0              270            0              95
  39  ButterKnife     -0.611         0.992          0.670          0              0              0              59
  40  PepperShaker    -0.312         0.755          6.666          0              270            0              95
  41  Pan             1.313          0.985          4.284          0              0              0              54
  42  Tomato          -0.027         0.809          6.612          0              135            0              95
  43  DishSponge      1.135          0.992          4.808          0              0              0              60
  44  Cup             -0.611         0.988          0.120          0              0              0              59
  45  Spoon           1.292          0.772          3.154          0              0              0              52
  46  Mug             1.384          1.043          0.847          0              270            0              59
  47  Cabinet         1.307          2.455          4.360          0              0              0
  48  Cabinet         1.054          0.422          1.710          0              0              0
  49  Drawer          1.280          0.808          4.718          0              0              0
  50  Cabinet         1.307          2.455          3.607          0              0              0
  51  Drawer          0.736          0.802          0.521          0              0              0
  52  Drawer          1.276          0.802          3.291          0              0              0
  53  StoveBurner     1.562          0.982          3.848          0              0              0
  54  StoveBurner     1.317          0.982          4.294          0              0              0
  55  Drawer          -0.482         0.802          0.521          0              0              0
  56  Drawer          0.124          0.802          0.521          0              0              0
  57  StoveBurner     1.559          0.982          4.294          0              0              0
  58  StoveBurner     1.320          0.982          3.848          0              0              0
  59  CounterTop      1.391          1.028          0.897          0              0              0
  60  CounterTop      1.391          1.028          4.716          0              0              0
  61  Cabinet         1.054          0.422          4.548          0              0              0
  62  Cabinet         1.317          2.134          0.517          0              0              0
  63  Cabinet         1.317          2.134          4.889          0              0              0
  64  Cabinet         1.317          2.134          3.095          0              0              0
  65  Cabinet         0.443          0.422          0.743          0              0              0
  66  Cabinet         1.270          2.134          0.434          0              0              0
  67  Cabinet         -0.775         0.422          0.743          0              0              0
  68  Cabinet         -0.168         0.422          0.743          0              0              0
  69  Cabinet         1.317          2.134          1.534          0              0              0
  70  Cabinet         1.054          0.422          2.990          0              0              0
  71  Cabinet         1.054          0.422          2.944          0              0              0
  72  Cabinet         -0.263         2.134          0.434          0              0              0
  73  Cabinet         0.252          2.134          0.434          0              0              0
  74  Sink            1.391          1.006          2.326          0              0              0
  75  Microwave       0.108          0.981          0.262          0              0              0
  76  HousePlant      -0.165         0.826          6.444          0              0              0
  77  CoffeeMachine   1.551          0.982          0.953          0              270            0
  78  Toaster         1.473          0.981          4.715          0              270            0
  79  Window          -2.065         1.916          3.626          90             90             0
  80  Window          1.763          2.007          2.299          90             270            0
  81  Fridge          2.035          0.0            5.625          0              0              0
  82  SinkBasin       1.387          0.880          2.338          0              90             0
  83  GarbageCan      2.001          -0.044         6.503          0              0              0
  84  StoveKnob       1.140          0.934          3.987          45             270            0
  85  StoveKnob       1.140          0.934          4.309          45             270            0
  86  StoveKnob       1.140          0.934          4.140          45             270            0
  87  StoveKnob       1.140          0.934          3.824          45             270            0
  88  Vase            -0.226         0.834          6.993          0              0              0
  89  Vase            2.098          0.043          7.070          0              257.232        0
  90  Vase            -0.594         0.835          6.130          0              225            0
  91  LightSwitch     -2.0           1.549          6.045          0              90             0
  92  Safe            2.046          1.072          7.054          0              257.232        0
  93  Faucet          1.534          1.025          2.371          0              294.391        0
  94  Blinds          1.738          2.563          2.312          0              90             0
  95  DiningTable     -0.156         0.000          6.474          0              0              0
  96  Chair           0.291          0.002          6.142          0              310.162        0
  97  GarbageBag      -1.092         0.318          0.268          270            90             83.492
  98  NorthWall
  99  EastWall
 100  SouthWall
 101  WestWall

Plan:
STEP 1: turn around and walk over to the kitchen sink | STEP 2: grab a knife out of the sink | STEP 3: cut the apple inside of the sink | STEP 4: walk over to face the kitchen counter to the left of the sink | STEP 5: open the pull out drawer on the left side and place the knife inside | STEP 6: walk back over to the sink | STEP 7: grab a slice of the apple | STEP 8: walk over to the stove | STEP 9: place the apple inside the sauce pan on the bottom left burner | STEP 10: pick up the sauce pan off of the bottom left burner | STEP 11: walk over to the fridge | STEP 12: place the sauce pan inside the fridge | END