Task: Chill an apple in the refrigerator and put it 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            0.900          3.0            0              180            0
   1  Pan             2.525          0.764          3.97           0              180            0              45
   2  Pan             2.683          1.026          1.004          0              136.999        0              44
   3  Spatula         2.594          0.817          -1.224         0              90             0              44
   4  Spatula         2.410          1.041          -1.987         0              90             0              44
   5  Spoon           -0.645         0.817          1.181          0              90             0              101
   6  Fork            -0.731         0.801          1.953          0              0              0              49
   7  Egg             -1.069         0.830          -0.073         0              90             0              88
   8  Plate           -0.968         1.442          -0.738         0              90             0              88
   9  Tomato          -0.418         1.081          2.066          0              0              0              47
  10  Tomato          2.100          0.818          3.895          0              270            0              45
  11  Bowl            2.959          1.025          -1.456         0              0              0              44
  12  PepperShaker    2.294          0.760          4.091          0              329.999        0              45
  13  PepperShaker    2.336          1.023          1.797          0              136.999        0              44
  14  Mug             -0.803         1.070          0.646          0              90             0              97
  15  Apple           2.597          0.814          3.418          0              329.999        0              45
  16  Pan             1.836          1.027          -1.84          0              90             0              42
  17  Glassbottle     -0.539         0.046          2.012          0              0              0              73
  18  Knife           1.170          1.052          -1.987         0              90             0              44
  19  SoapBottle      3.043          1.025          -1.151         0              0              0              44
  20  Egg             -0.669         1.071          1.821          0              0              0              47
  21  Fork            -0.418         1.028          0.692          0              0              0              47
  22  Potato          -1.045         1.069          1.943          0              0              0              47
  23  Ladle           -0.669         1.066          2.556          0              0              0              47
  24  Tomato          2.801          0.818          4.044          0              270            0              45
  25  Pot             1.334          0.023          -1.670         0              270            0              63
  26  WineBottle      1.290          1.027          -1.454         0              90             0              44
  27  Plate           -0.715         0.046          2.071          0              0              0              73
  28  Spatula         2.156          0.816          1.433          0              47.0           0              58
  29  PaperTowelRoll  -1.102         1.131          1.612          0              0              0              47
  30  Lettuce         -0.577         0.874          1.492          0              90             0              101
  31  Apple           2.599          0.814          3.62           0              0              0              45
  32  SaltShaker      1.982          0.760          4.335          0              329.999        0              45
  33  PepperShaker    2.452          0.798          1.117          0              317.0          0              57
  34  ButterKnife     2.801          0.764          3.821          0              270            0              45
  35  Bread           2.741          1.085          0.059          0              0              0              44
  36  Cup             2.525          0.763          4.495          0              0              0              45
  37  DishSponge      2.302          0.764          4.495          0              0              0              45
  38  Bowl            2.478          0.762          3.773          0              329.999        0              45
  39  Spoon           -0.714         0.817          1.414          0              90             0              101
  40  Mug             -0.539         0.041          1.895          0              0              0              73
  41  Sink            -0.716         1.023          1.333          0              0              0
  42  StoveBurner     1.835          1.018          -1.840         0              90             0
  43  StoveBurner     2.177          1.018          -1.599         0              0              0
  44  CounterTop      2.812          0.992          0.675          0              0              0
  45  DiningTable     2.419          0.003          3.930          0              0              0
  46  Drawer          -0.643         0.828          0.616          0              0              0
  47  CounterTop      -0.813         1.062          2.188          0              0              0
  48  StoveBurner     2.115          1.018          -1.840         0              270            0
  49  Drawer          -0.643         0.831          1.953          0              0              0
  50  Drawer          -0.643         0.833          2.418          0              0              0
  51  Drawer          1.347          0.836          -1.539         0              0              0
  52  Drawer          2.693          0.833          -1.131         0              0              0
  53  Drawer          2.693          0.833          -0.699         0              0              0
  54  Drawer          2.693          0.833          -0.267         0              0              0
  55  Drawer          2.693          0.833          0.163          0              0              0
  56  Drawer          2.524          0.833          0.720          0              2.000          0
  57  Drawer          2.232          0.833          1.036          0              2.000          0
  58  Drawer          1.936          0.833          1.354          0              2.000          0
  59  Drawer          1.646          0.833          1.670          0              2.000          0
  60  Cabinet         1.504          2.475          -1.710         0              0              0
  61  Cabinet         -0.823         2.220          1.621          0              0              0
  62  Cabinet         -0.823         2.220          0.615          0              0              0
  63  Cabinet         1.136          0.388          -1.355         0              0              0
  64  Cabinet         -0.356         0.383          2.626          0              0              0
  65  Cabinet         2.745          2.220          -1.690         0              0              0
  66  Cabinet         1.882          0.383          1.017          0              0              0
  67  Cabinet         1.307          0.473          1.640          0              0              0
  68  Cabinet         1.892          0.383          1.006          0              0              0
  69  Cabinet         2.467          0.383          0.383          0              0              0
  70  Cabinet         2.466          0.383          -0.475         0              0              0
  71  Cabinet         2.466          0.473          0.371          0              0              0
  72  Cabinet         2.386          2.475          -1.710         0              0              0
  73  Cabinet         -0.356         0.383          1.712          0              0              0
  74  Cabinet         2.745          2.220          0.019          0              0              0
  75  Cabinet         -0.663         2.496          0.157          0              0              0
  76  Cabinet         -0.663         2.496          -0.868         0              0              0
  77  Cabinet         -0.356         0.383          0.269          0              0              0
  78  Cabinet         -0.823         2.220          1.603          0              0              0
  79  Cabinet         -0.662         2.234          0.586          0              0              0
  80  Cabinet         2.745          2.220          -0.843         0              0              0
  81  Cabinet         2.745          2.220          -0.827         0              0              0
  82  Cabinet         -0.823         2.220          2.608          0              0              0
  83  Cabinet         2.732          2.226          -1.709         0              0              0
  84  Cabinet         1.137          2.226          -1.709         0              0              0
  85  Cabinet         2.466          0.383          -0.491         0              0              0
  86  Cabinet         2.466          0.383          -1.339         0              0              0
  87  StoveBurner     1.761          1.018          -1.599         0              0              0
  88  Fridge          -0.908         0.0            -0.405         0              0              0
  89  HousePlant      2.517          1.016          1.822          0              0              0
  90  Microwave       1.939          1.745          -1.826         0              0              0
  91  StoveKnob       2.017          1.041          -1.514         0              180            180
  92  StoveKnob       1.934          1.041          -1.514         0              180            180
  93  StoveKnob       2.017          1.041          -1.589         0              180            180
  94  StoveKnob       1.934          1.041          -1.589         0              180            180
  95  Window          1.756          1.608          4.762          90             0              0
  96  HousePlant      2.171          1.004          2.091          0              0              0
  97  CoffeeMachine   -0.942         1.018          0.645          0              90             0
  98  LightSwitch     -0.099         1.410          -2.066         0              0              0
  99  GarbageCan      -0.951         -0.029         2.826          0              0              0
 100  Toaster         -1.007         1.018          2.238          0              90             0
 101  SinkBasin       -0.714         0.805          1.348          0              90             0
 102  Chair           1.615          0.004          4.310          0              107.976        0
 103  Faucet          -1.120         1.013          1.334          0              90             0
 104  Chair           2.759          0.004          3.086          0              358.967        0
 105
 106  NorthWall
 107  EastWall
 108  SouthWall
 109  WestWall

Plan:
STEP 1: Turn around and face the table | STEP 2: Pick up the closest apple from the table | STEP 3: Cross the kitchen and walk to the front of the refrigerator  | STEP 4: Open the refrigerator door, put the apple on the shelf inside, close the refrigerator, open the refrigerator, take the apple out, and close the refrigerator door. | STEP 5: Turn around and cross the kitchen to the table | STEP 6: Put the apple on the table | END