Task: place chilled red apple in red bin

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.0            0.908          0.25           0              270            0
   1  Pan             -1.263         1.636          0.883          0              0              0              83
   2  CellPhone       1.523          0.909          -0.428         0              0              0              63
   3  Kettle          1.128          0.912          0.139          0              0              0              63
   4  Spoon           1.034          0.887          2.584          0              270            0              95
   5  Spoon           -1.156         0.777          0.174          0              90             0              65
   6  Fork            -0.144         0.759          -0.651         0              90             0              90
   7  Fork            -1.383         0.749          2.459          0              0              0              44
   8  Spatula         1.200          0.901          2.369          0              90             0              95
   9  Pot             0.802          0.939          -0.740         0              90             0              72
  10  SoapBottle      1.117          0.887          2.261          0              90             0              95
  11  SoapBottle      -1.475         0.750          2.830          0              0              0              44
  12  Bowl            -1.206         1.419          0.988          0              90             0              83
  13  Bowl            -1.162         0.340          1.092          0              90             0              83
  14  Bread           -1.290         0.813          2.644          0              0              0              44
  15  Bread           -1.320         0.814          1.092          0              90             0              83
  16  PepperShaker    1.117          0.882          2.153          0              0              0              95
  17  Mug             -1.329         1.010          -0.109         0              90             0              89
  18  Bread           -1.012         0.813          2.087          0              0              0              44
  19  Glassbottle     -1.383         0.749          2.087          0              0              0              44
  20  Fork            1.117          0.886          2.692          0              0              0              95
  21  Kettle          1.207          0.912          0.422          0              0              0              63
  22  Tomato          -0.813         0.961          -0.907         0              0              0              69
  23  Plate           1.128          0.912          0.706          0              0              0              63
  24  CellPhone       1.365          0.909          -0.428         0              0              0              63
  25  Lettuce         1.444          0.982          0.139          0              0              0              63
  26  Pot             0.502          0.939          -0.740         0              90             0              70
  27  SoapBottle      1.200          0.887          2.692          0              0              0              95
  28  WineBottle      -1.135         0.913          -0.817         0              0              0              69
  29  Spatula         -0.968         0.927          -0.509         0              180            0              69
  30  Bowl            -1.206         1.635          1.188          0              90             0              83
  31  Apple           -1.362         0.972          -0.477         0              0              0              69
  32  Cup             1.325          1.655          -0.453         0              0              0              45
  33  Knife           1.284          0.908          2.153          0              0              0              95
  34  Egg             1.450          0.920          2.477          0              0              0              95
  35  SaltShaker      -1.015         1.652          -0.847         0              0              0              49
  36  PepperShaker    -0.985         1.652          -0.724         0              0              0              49
  37  Potato          -0.020         0.803          -0.651         0              0              0              90
  38  ButterKnife     -1.012         0.749          2.830          0              0              0              44
  39  DishSponge      1.444          0.911          -0.144         0              0              0              63
  40  Pan             -1.332         0.9            -0.699         0              345.0          0              69
  41  Spoon           -1.105         0.750          2.087          0              0              0              44
  42  SprayBottle     1.286          0.910          -0.428         0              0              0              63
  43  Mug             1.215          0.943          -0.633         0              320.314        0              82
  44  DiningTable     -1.182         0.006          2.414          0              90             0
  45  Cabinet         1.184          2.059          0.375          0              0              0
  46  Cabinet         1.184          2.059          -0.635         0              0              0
  47  Cabinet         0.591          2.309          -0.645         0              0              0
  48  Cabinet         -0.574         2.059          -0.644         0              0              0
  49  Cabinet         -1.103         2.059          -0.644         0              0              0
  50  Cabinet         -1.185         2.059          -0.331         0              0              0
  51  Cabinet         -1.185         2.059          -0.281         0              0              0
  52  Cabinet         -1.185         2.059          0.375          0              0              0
  53  Cabinet         1.184          2.309          1.174          0              0              0
  54  Cabinet         1.184          2.309          0.424          0              0              0
  55  Cabinet         0.988          0.402          0.581          0              0              0
  56  Cabinet         0.988          0.402          0.531          0              0              0
  57  Cabinet         0.988          0.402          -0.178         0              0              0
  58  Cabinet         0.335          0.402          -0.348         0              0              0
  59  Cabinet         -0.374         0.402          -0.348         0              0              0
  60  Cabinet         0.988          0.402          1.231          0              0              0
  61  Cabinet         -1.185         2.309          1.374          0              0              0
  62  Cabinet         -1.185         2.309          0.424          0              0              0
  63  CounterTop      1.274          0.947          0.064          0              0              0
  64  Drawer          1.116          0.792          -0.015         0              0              0
  65  Drawer          -1.116         0.792          0.210          0              180            0
  66  Cabinet         -0.990         0.402          0.374          0              180            0
  67  Drawer          -1.116         0.792          -0.170         0              180            0
  68  Cabinet         -0.990         0.402          -0.335         0              180            0
  69  CounterTop      -1.001         0.947          -0.669         0              0              0
  70  StoveBurner     0.502          0.932          -0.740         0              90             0
  71  StoveBurner     0.801          0.932          -0.473         0              0              0
  72  StoveBurner     0.801          0.932          -0.740         0              90             0
  73  Drawer          1.116          0.792          1.081          0              0              0
  74  Sink            -0.013         0.912          -0.615         0              0              0
  75  Drawer          1.116          0.792          0.732          0              0              0
  76  StoveBurner     0.502          0.932          -0.469         0              0              0
  77  Drawer          1.116          0.792          0.367          0              0              0
  78  StoveKnob       0.550          1.085          -0.912         287.970        180            0
  79  StoveKnob       0.884          1.085          -0.912         287.970        180            0
  80  StoveKnob       0.432          1.085          -0.912         287.970        180            0
  81  StoveKnob       0.777          1.085          -0.912         287.970        180            0
  82  CoffeeMachine   1.304          0.900          -0.741         0              320.314        0
  83  Fridge          -1.300         0.008          0.987          0              90             0
  84  GarbageCan      1.296          -0.024         1.465          0              0              0
  85  Window          -0.012         1.641          -0.972         90             0              0
  86  Window          1.598          1.646          2.489          90             270            0
  87  Toaster         1.356          0.900          1.044          0              270            0
  88  LightSwitch     0.118          1.353          3.799          0              180            0
  89  Microwave       -1.343         0.900          0.053          0              90             0
  90  SinkBasin       -0.029         0.748          -0.612         0              0              0
  91  Faucet          -0.026         0.927          -0.808         0              0              0
  92  Shelf           -1.182         0.127          2.414          0              90             0
  93  Stool           1.140          0.007          3.262          1.206          20.753         0
  94  Shelf           -1.182         0.435          2.414          0              90             0
  95  DiningTable     1.169          0.014          2.569          0              0              1.896
  96  NorthWall
  97  EastWall
  98  SouthWall
  99  WestWall

Plan:
STEP 1: go to corner counter to left of microwave | STEP 2: pick up red apple to the left of microwave | STEP 3: go to refrigerator to the right | STEP 4: open refrigerator, put apple on top shelf, close refrigerator, open refrigerator, pick up apple, close refrigerator | STEP 5: turn around, go to red bin in between table and counter | STEP 6: place apple in red bin | END