Task: Place a chilled apple on the table.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -2.5           0.914          2.75           0              0              0
   1  Spatula         -3.368         0.930          3.663          0              90             0              45
   2  Spatula         -1.787         0.906          0.152          0              90             0              81
   3  Spoon           -1.523         0.892          0.461          0              90             0              81
   4  Fork            -1.711         0.916          4.188          0              0              0              45
   5  Fork            -1.391         0.892          0.461          0              90             0              81
   6  Egg             -3.537         1.581          2.068          0              90             0              76
   7  Egg             -1.655         0.926          0.049          0              90             0              81
   8  Cup             -0.089         1.273          4.097          0              180            0              71
   9  Knife           -1.523         0.915          0.152          0              180            0              81
  10  Knife           -3.272         0.939          1.440          0              270            0              54
  11  Tomato          -1.919         0.984          4.104          0              0              0              45
  12  Bowl            -0.323         0.985          4.051          0              180            0              71
  13  Bowl            -1.787         0.890          0.049          0              90             0              81
  14  Lettuce         -1.391         0.977          -0.053         0              90             0              81
  15  Lettuce         -1.523         0.977          0.255          0              90             0              81
  16  Bread           -3.463         0.997          1.440          0              0              0              54
  17  Bread           -3.559         0.997          1.189          0              0              0              54
  18  Mug             -3.426         0.945          3.275          0              90             0              45
  19  Apple           -1.259         0.951          0.255          0              90             0              81
  20  Apple           -0.994         0.951          0.461          0              90             0              81
  21  Apple           -3.559         0.975          1.607          0              0              0              54
  22  Egg             -2.302         0.950          3.567          0              0              0              45
  23  Knife           -1.127         0.915          0.358          0              180            0              81
  24  Fork            -1.259         0.892          0.049          0              90             0              81
  25  Bread           -3.559         0.996          2.844          0              0              0              45
  26  Potato          -1.857         0.821          3.625          0              0              0              75
  27  Plate           -3.005         0.904          3.677          0              0              0              45
  28  Pot             -3.424         0.966          1.971          0              0              0              53
  29  Kettle          -3.424         0.966          2.374          0              0              0              51
  30  WineBottle      -1.256         0.088          3.852          0              270            0              77
  31  Bowl            -0.994         0.895          -0.053         0              90             0              81
  32  Tomato          -0.790         1.054          4.051          0              180            0              71
  33  Cup             -3.540         1.458          2.922          0              0              0              52
  34  Spatula         -2.022         0.930          4.231          0              270            0              45
  35  SoapBottle      -3.176         0.915          1.273          0              0              0              54
  36  Lettuce         -0.994         0.977          0.255          0              90             0              81
  37  Pan             -3.148         0.966          2.374          0              0              0              48
  38  Apple           -1.729         0.849          3.662          0              0              0              75
  39  SaltShaker      -3.155         0.742          1.356          0              0              0              46
  40  PepperShaker    -3.155         0.741          1.433          0              0              0              46
  41  ButterKnife     -1.655         0.891          0.358          0              90             0              81
  42  DishSponge      -3.127         0.746          3.296          0              0              0              55
  43  Spoon           -3.081         0.916          1.440          0              0              0              54
  44  Mug             -1.985         0.784          3.7            0              90             0              75
  45  CounterTop      -3.381         0.950          3.335          0              0              0
  46  Drawer          -3.121         0.775          1.357          0              0              0
  47  Drawer          -3.121         0.777          2.916          0              0              0
  48  StoveBurner     -3.148         0.958          2.374          0              0              0
  49  Sink            -1.797         0.917          3.660          0              0              0
  50  Cabinet         -1.421         0.388          3.459          0              0              0
  51  StoveBurner     -3.424         0.958          2.374          0              0              0
  52  Cabinet         -3.365         1.931          2.676          0              0              0
  53  StoveBurner     -3.424         0.958          1.971          0              0              0
  54  CounterTop      -3.381         0.951          1.356          0              0              0
  55  Drawer          -3.121         0.781          3.295          0              0              0
  56  Cabinet         -2.205         0.388          3.459          0              0              0
  57  Cabinet         -2.963         0.388          3.459          0              0              0
  58  Cabinet         -2.992         0.388          2.683          0              0              0
  59  Cabinet         -3.352         2.205          1.715          0              0              0
  60  Cabinet         -3.352         2.205          2.653          0              0              0
  61  Cabinet         -2.189         0.388          3.466          0              0              0
  62  Cabinet         -3.365         1.931          3.963          0              0              0
  63  Cabinet         -3.365         1.931          1.056          0              0              0
  64  Cabinet         -2.992         0.388          1.037          0              0              0
  65  StoveBurner     -3.143         0.958          1.971          0              0              0
  66  StoveKnob       -3.599         1.110          2.017          0              0              105.000
  67  StoveKnob       -3.599         1.110          1.867          0              0              105.000
  68  StoveKnob       -3.599         1.110          2.267          0              0              105.000
  69  StoveKnob       -3.599         1.110          2.427          0              0              105.000
  70  Toaster         -2.654         0.902          4.064          0              180            0
  71  Fridge          -0.439         0.014          3.996          0              0              0
  72  LightSwitch     0.25           1.383          2.085          0              270            0
  73  Window          -1.430         1.338          -0.347         90             0              0
  74  CoffeeMachine   -3.550         0.902          3.274          0              90             0
  75  SinkBasin       -1.802         0.778          3.700          0              0              0
  76  Microwave       -3.484         1.430          2.182          0              90             0
  77  GarbageCan      -1.184         -0.020         3.794          0              270            0
  78  Blinds          -1.404         2.092          -0.296         0              0              0
  79  Stool           -1.373         0.014          1.048          1.214          20.754         0
  80  Faucet          -1.788         0.903          3.931          270            90             0
  81  DiningTable     -1.399         0.010          0.238          0              0              0
  82  GarbageBag      -0.291         0.336          -0.034         272.372        348.812        147.313
  83  NorthWall
  84  EastWall
  85  SouthWall
  86  WestWall

Plan:
STEP 1: Turn right and move toward the door, then turn right and move to the corner of the room next to the garbage bag, then turn right and face the table next to the window. | STEP 2: Pick up the apple on the front corner of the table that is to the right of the knife. | STEP 3: Turn right and move to the refrigerator in the corner of the room next to the garbage bin. | STEP 4: Open the refrigerator, place the apple on the shelf above the drawer, chill the apple, open the refrigerator, pick up the apple, and then close the refrigerator door. | STEP 5: Turn around and move to the garbage bag in the corner of the room then turn right and face the table. | STEP 6: Place the apple on the edge of the table to the right of the knife and in front of the fork. | END