Task: place a cooled off apple inside of the garbage bin

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.25           0.908          0.5            0              270            0
   1  Pan             -1.320         1.420          0.987          0              180            0              101
   2  Pan             -1.290         0.748          3.015          0              90             0              62
   3  SprayBottle     1.117          0.885          2.584          0              0              0              113
   4  Potato          1.189          0.131          1.440          0              0              0              102
   5  CellPhone       1.155          0.774          -0.014         0              0              0              82
   6  DishSponge      -1.437         0.911          -0.392         0              0              0              87
   7  DishSponge      -0.144         0.758          -0.573         0              0              0              108
   8  ButterKnife     1.049          0.911          -0.712         0              90             0              81
   9  Glassbottle     -1.012         0.750          2.830          0              0              0              62
  10  Glassbottle     -1.320         0.751          1.092          0              90             0              101
  11  WineBottle      1.207          0.912          -0.428         0              0              0              81
  12  WineBottle      -1.194         0.342          0.988          0              90             0              101
  13  Kettle          0.502          0.939          -0.740         0              90             0              88
  14  Spatula         1.284          0.901          2.369          0              0              0              113
  15  Pot             0.502          0.939          -0.469         0              0              0              94
  16  Cup             0.951          0.885          2.477          0              0              0              113
  17  Cup             -1.130         0.340          0.673          0              90             0              101
  18  Plate           1.207          0.912          0.422          0              0              0              81
  19  Plate           1.325          2.157          0.599          0              0              0              72
  20  Knife           -0.130         0.934          -0.359         0              0              0              87
  21  SoapBottle      -1.290         0.750          2.830          0              0              0              62
  22  SoapBottle      -0.252         0.117          -0.621         0              0              0              76
  23  Bowl            1.367          0.884          2.261          0              0              0              113
  24  Bowl            -1.361         1.013          -0.005         0              90             0              107
  25  Bread           -1.105         0.813          2.273          0              0              0              62
  26  Bread           1.034          0.949          2.261          0              0              0              113
  27  Lettuce         1.207          0.982          0.139          0              0              0              81
  28  Lettuce         -1.012         0.819          1.902          0              0              0              62
  29  SaltShaker      1.444          0.907          0.139          0              0              0              81
  30  PepperShaker    1.444          0.907          0.706          0              0              0              81
  31  Mug             -1.194         0.336          0.778          0              90             0              101
  32  Mug             1.215          0.943          -0.633         0              320.314        0              100
  33  Apple           1.367          0.946          2.477          0              0              0              113
  34  Apple           -1.513         0.972          -0.732         0              0              0              87
  35  Apple           -0.020         0.818          -0.573         0              0              0              108
  36  Bread           -1.383         0.813          2.459          0              0              0              62
  37  Glassbottle     -1.264         0.117          0.124          0              180            0              84
  38  Fork            -1.290         0.750          2.644          0              180            0              62
  39  Kettle          -1.325         2.154          1.093          0              0              0              79
  40  Tomato          -1.437         0.961          -0.902         0              0              0              87
  41  Plate           1.131          0.116          0.732          0              0              0              78
  42  CellPhone       -1.060         0.909          -0.817         0              0              0              87
  43  Lettuce         -1.263         1.707          1.086          0              90             0              101
  44  Pot             0.802          0.939          -0.740         0              90             0              90
  45  SoapBottle      1.327          1.661          0.253          0              0              0              63
  46  WineBottle      -0.658         0.913          -0.907         0              0              0              87
  47  Spatula         -0.919         0.764          2.644          0              0              0              62
  48  Bowl            1.207          0.909          -0.144         0              0              0              81
  49  Apple           1.365          0.971          -0.428         0              0              0              81
  50  Cup             1.450          0.885          2.692          0              0              0              113
  51  Knife           1.365          0.933          -0.144         0              0              0              81
  52  Egg             -1.012         0.783          2.087          0              0              0              62
  53  SaltShaker      -1.105         0.745          2.830          0              0              0              62
  54  PepperShaker    1.200          0.882          2.800          0              0              0              113
  55  Potato          -1.206         1.681          1.289          0              90             0              101
  56  ButterKnife     1.200          0.886          2.153          0              0              0              113
  57  DishSponge      -0.724         1.655          -0.817         0              0              0              66
  58  Pan             -1.332         0.9            -0.699         0              345.0          0              87
  59  Spoon           -0.082         0.759          -0.573         0              270            0              108
  60  SprayBottle     -1.105         0.748          1.902          0              90             0              62
  61  Mug             -1.388         2.148          0.706          0              90             0              79
  62  DiningTable     -1.182         0.006          2.414          0              90             0
  63  Cabinet         1.184          2.059          0.375          0              0              0
  64  Cabinet         1.184          2.059          -0.635         0              0              0
  65  Cabinet         0.591          2.309          -0.645         0              0              0
  66  Cabinet         -0.574         2.059          -0.644         0              0              0
  67  Cabinet         -1.103         2.059          -0.644         0              0              0
  68  Cabinet         -1.185         2.059          -0.331         0              0              0
  69  Cabinet         -1.185         2.059          -0.281         0              0              0
  70  Cabinet         -1.185         2.059          0.375          0              0              0
  71  Cabinet         1.184          2.309          1.174          0              0              0
  72  Cabinet         1.184          2.309          0.424          0              0              0
  73  Cabinet         0.988          0.402          0.581          0              0              0
  74  Cabinet         0.988          0.402          0.531          0              0              0
  75  Cabinet         0.988          0.402          -0.178         0              0              0
  76  Cabinet         0.335          0.402          -0.348         0              0              0
  77  Cabinet         -0.374         0.402          -0.348         0              0              0
  78  Cabinet         0.988          0.402          1.231          0              0              0
  79  Cabinet         -1.185         2.309          1.374          0              0              0
  80  Cabinet         -1.185         2.309          0.424          0              0              0
  81  CounterTop      1.274          0.947          0.064          0              0              0
  82  Drawer          1.116          0.792          -0.015         0              0              0
  83  Drawer          -1.116         0.792          0.210          0              180            0
  84  Cabinet         -0.990         0.402          0.374          0              180            0
  85  Drawer          -1.116         0.792          -0.170         0              180            0
  86  Cabinet         -0.990         0.402          -0.335         0              180            0
  87  CounterTop      -1.001         0.947          -0.669         0              0              0
  88  StoveBurner     0.502          0.932          -0.740         0              90             0
  89  StoveBurner     0.801          0.932          -0.473         0              0              0
  90  StoveBurner     0.801          0.932          -0.740         0              90             0
  91  Drawer          1.116          0.792          1.081          0              0              0
  92  Sink            -0.013         0.912          -0.615         0              0              0
  93  Drawer          1.116          0.792          0.732          0              0              0
  94  StoveBurner     0.502          0.932          -0.469         0              0              0
  95  Drawer          1.116          0.792          0.367          0              0              0
  96  StoveKnob       0.550          1.085          -0.912         287.970        180            0
  97  StoveKnob       0.884          1.085          -0.912         287.970        180            0
  98  StoveKnob       0.432          1.085          -0.912         287.970        180            0
  99  StoveKnob       0.777          1.085          -0.912         287.970        180            0
 100  CoffeeMachine   1.304          0.900          -0.741         0              320.314        0
 101  Fridge          -1.300         0.008          0.987          0              90             0
 102  GarbageCan      1.296          -0.024         1.465          0              0              0
 103  Window          -0.012         1.641          -0.972         90             0              0
 104  Window          1.598          1.646          2.489          90             270            0
 105  Toaster         1.356          0.900          1.044          0              270            0
 106  LightSwitch     0.118          1.353          3.799          0              180            0
 107  Microwave       -1.343         0.900          0.053          0              90             0
 108  SinkBasin       -0.029         0.748          -0.612         0              0              0
 109  Faucet          -0.026         0.927          -0.808         0              0              0
 110  Shelf           -1.182         0.127          2.414          0              90             0
 111  Stool           1.140          0.007          3.262          1.206          20.753         0
 112  Shelf           -1.182         0.435          2.414          0              90             0
 113  DiningTable     1.169          0.014          2.569          0              0              1.896
 114  NorthWall
 115  EastWall
 116  SouthWall
 117  WestWall

Plan:
STEP 1: turn around and walk over to the kitchen counter in the corner on the right | STEP 2: grab an apple off of the kitchen counter there | STEP 3: turn around and walk over to the fridge just up ahead on the right | STEP 4: place the apple inside of the fridge there, let it cool off, then take it back out | STEP 5: turn around and walk over to the garbage bin straight up ahead | STEP 6: place the apple inside of the garbage bin there | END