Task: Put 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           -1.0           0.901          2.75           0              0              0
   1  Pan             -0.254         0.928          4.672          0              0              0              54
   2  Potato          -2.377         0.926          2.573          0              0              0              73
   3  Potato          -2.037         0.954          0.264          0              0              0              52
   4  DishSponge      -0.433         0.661          0.464          0              0              0              41
   5  ButterKnife     -1.266         0.795          0.337          0              0              0              70
   6  Spoon           -2.628         0.936          3.488          0              90             0              59
   7  Fork            -1.094         0.796          0.281          0              90             0              70
   8  Fork            -0.228         0.901          2.932          0              0              0              75
   9  Egg             -0.143         0.933          3.334          0              0              0              75
  10  SoapBottle      -1.636         1.773          0.205          0              0              0              47
  11  Tomato          -2.691         0.362          4.278          0              90             0              69
  12  Tomato          -2.847         1.250          4.204          0              90             0              69
  13  Bowl            -1.303         1.770          0.205          0              0              0              49
  14  PepperShaker    -2.549         0.931          3.302          0              0              0              59
  15  PepperShaker    -1.083         1.769          0.251          0              0              0              49
  16  Bread           -2.805         0.689          4.427          0              90             0              69
  17  Lettuce         -0.400         0.980          2.731          0              180            0              75
  18  Lettuce         -0.486         0.980          2.329          0              0              0              75
  19  Mug             -2.778         1.001          3.714          0              90             0              72
  20  Egg             -1.352         0.961          0.650          0              0              0              52
  21  Plate           -2.246         1.777          0.251          0              0              0              48
  22  Fork            -0.272         0.662          0.409          0              0              0              41
  23  Bread           -2.686         0.957          2.309          0              0              0              73
  24  Apple           -1.266         0.852          0.226          0              0              0              70
  25  Lettuce         -2.943         1.015          3.302          0              90             0              59
  26  Spatula         -2.377         0.915          2.706          0              0              0              73
  27  Knife           -0.921         0.821          0.337          0              0              0              70
  28  Potato          -2.748         0.080          0.420          0              26.101         0              66
  29  Tomato          -2.480         0.964          2.309          0              0              0              73
  30  Cup             -2.480         0.900          2.573          0              0              0              73
  31  SaltShaker      -2.706         0.931          3.395          0              0              0              59
  32  PepperShaker    -0.486         0.896          2.932          0              0              0              75
  33  ButterKnife     -0.486         0.900          2.530          0              0              0              75
  34  SoapBottle      -2.995         0.900          1.913          0              0              0              73
  35  Pan             -0.535         0.928          4.274          0              0              0              56
  36  DishSponge      -1.770         0.661          0.409          0              0              0              55
  37  Pot             -2.476         0.889          2.050          0              0              0              73
  38  Spoon           -0.572         0.901          3.133          0              0              0              75
  39  Mug             -0.191         1.018          0.140          0              90             0              71
  40  Bowl            -2.764         1.182          4.501          0              90             0              69
  41  Drawer          -0.325         0.696          0.413          0              0              0
  42  Cabinet         -0.595         0.490          0.648          0              0              0
  43  Cabinet         -0.555         0.490          0.646          0              0              0
  44  Cabinet         -1.591         0.490          0.646          0              0              0
  45  Cabinet         -1.554         0.490          0.646          0              0              0
  46  Cabinet         -2.550         0.490          0.646          0              0              0
  47  Cabinet         -1.514         2.046          0.392          0              0              0
  48  Cabinet         -2.474         2.046          0.392          0              0              0
  49  Cabinet         -1.478         2.046          0.392          0              0              0
  50  Cabinet         -0.518         2.046          0.392          0              0              0
  51  Cabinet         -0.479         2.046          0.392          0              0              0
  52  CounterTop      -1.366         0.952          0.349          0              0              0
  53  Sink            -1.108         0.926          0.340          0              0              0
  54  StoveBurner     -0.254         0.922          4.672          0              0              0
  55  Drawer          -1.824         0.696          0.413          0              0              0
  56  StoveBurner     -0.535         0.922          4.274          0              0              0
  57  StoveBurner     -0.254         0.922          4.274          0              0              0
  58  StoveBurner     -0.536         0.922          4.672          0              0              0
  59  CounterTop      -2.780         0.971          3.487          0              0              0
  60  Drawer          -2.323         0.696          0.413          0              0              0
  61  StoveKnob       -0.064         1.090          4.632          0              0              73.865
  62  StoveKnob       -0.064         1.090          4.782          0              0              73.865
  63  StoveKnob       -0.064         1.090          4.382          0              0              73.865
  64  StoveKnob       -0.064         1.090          4.222          0              0              73.865
  65  Toaster         -0.286         0.861          3.520          0              270            0
  66  GarbageCan      -2.816         -0.014         0.370          358.702        26.614         2.400
  67  LightSwitch     -0.064         1.447          1.996          0              270            0
  68  Window          -3.075         1.593          1.361          90             90             0
  69  Fridge          -2.802         0.0            4.427          0              0              0
  70  SinkBasin       -1.106         0.785          0.337          0              0              0
  71  Microwave       -0.358         0.917          0.224          0              0              0
  72  CoffeeMachine   -2.938         0.925          3.605          0              90             0
  73  DiningTable     -2.733         -0.003         2.607          0              270            0
  74  Faucet          -1.077         0.920          0.028          270            270            0
  75  DiningTable     -0.488         -0.003         3.182          0              270            0
  76  NorthWall
  77  EastWall
  78  SouthWall
  79  WestWall

Plan:
STEP 1: Turn left and go to the sink | STEP 2: Pick up the apple from the sink | STEP 3: Turn around and go to the refrigerator on the left | STEP 4: Open the refrigerator door, put the apple on the top shelf and close the door. Open the refrigerator door and take the apple on the top shelf | STEP 5: Turn left and go to the table on the right | STEP 6: Place the apple on the table between the tomato and potato | END