Task: Put a chilled  apple in the sink.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.75          0.900          0.5            0              270            0
   1  Pan             -1.668         0.911          -1.318         0              0              0              70
   2  CellPhone       1.812          0.543          1.088          0              0              0              68
   3  CellPhone       1.661          0.235          0.116          0              0              0              53
   4  Ladle           1.658          0.165          0.672          0              270            0              62
   5  Ladle           1.900          0.955          1.408          0              0              0              70
   6  Kettle          -0.305         0.115          -1.347         0              0              0              49
   7  DishSponge      -0.106         0.925          -0.190         0              0              0              78
   8  ButterKnife     0.889          0.911          -1.513         0              0              0              70
   9  ButterKnife     -0.213         0.925          0.970          0              0              0              78
  10  Spoon           0.083          0.761          -1.380         0              0              0              94
  11  Spoon           0.000          0.926          0.970          0              0              0              78
  12  Pot             1.975          0.938          0.601          0              180            0              65
  13  Pot             1.195          0.113          -1.479         0              0              0              63
  14  Cup             0.170          0.758          -1.490         0              0              0              94
  15  Cup             -1.697         1.467          -0.175         0              90             0              93
  16  Plate           -0.867         1.678          -1.614         0              0              0              72
  17  Bowl            2.030          0.909          -1.513         0              0              0              70
  18  Bowl            -1.197         0.111          -1.296         0              0              0              82
  19  PepperShaker    -0.699         0.667          -1.362         0              0              0              61
  20  PepperShaker    -0.106         0.921          0.738          0              0              0              78
  21  Bread           -1.697         1.549          0.013          0              90             0              93
  22  Bread           -1.750         1.756          -0.175         0              90             0              93
  23  Lettuce         0.214          1.002          0.273          0              0              0              78
  24  Apple           -0.002         0.813          -1.490         0              0              0              94
  25  SoapBottle      1.839          0.915          -0.053         0              0              0              70
  26  Cup             -0.844         0.909          -1.415         0              0              0              70
  27  Pot             -0.106         0.929          0.506          0              0              0              78
  28  Fork            -0.088         0.760          -1.380         0              270            0              94
  29  Ladle           1.764          0.391          0.599          0              0              0              64
  30  Kettle          0.361          0.113          -1.282         0              0              0              49
  31  Egg             1.924          1.063          -0.861         0              270            0              91
  32  Plate           0.000          0.924          1.202          0              0              0              78
  33  Pan             -1.360         1.679          -1.614         0              270            0              72
  34  Lettuce         -0.320         1.002          0.970          0              0              0              78
  35  Spatula         0.256          0.775          -1.324         0              270            0              94
  36  Apple           0.170          0.813          -1.380         0              0              0              94
  37  Knife           0.107          0.947          0.738          0              0              0              78
  38  SaltShaker      1.712          0.541          1.153          0              0              0              68
  39  PepperShaker    1.509          0.907          0.639          0              0              0              70
  40  CellPhone       0.000          0.923          0.041          0              0              0              78
  41  ButterKnife     1.662          0.141          1.153          0              0              0              79
  42  Bread           0.214          1.006          0.738          0              0              0              78
  43  Tomato          -1.796         0.096          1.371          0              270            0              84
  44  Potato          -0.002         0.784          -1.324         0              0              0              94
  45  DishSponge      1.603          0.762          1.147          0              270            0              76
  46  Spoon           1.769          0.763          1.292          0              270            0              76
  47  Mug             -1.721         0.558          0.295          0              90             0              93
  48  Bowl            1.956          1.004          -0.704         0              270            0              91
  49  Cabinet         -0.495         0.474          -1.149         0              0              0
  50  Window          -0.010         1.582          -1.821         0              0              0
  51  Drawer          0.805          0.475          -1.159         0              0              0
  52  StoveBurner     1.764          0.902          0.601          0              270            0
  53  Drawer          1.5            0.196          -0.019         0              0              0
  54  Drawer          1.5            0.629          -0.018         0              0              0
  55  Drawer          1.5            0.602          -0.019         0              270            0
  56  StoveBurner     1.975          0.902          0.384          0              270            0
  57  Cabinet         -1.703         2.022          -1.453         0              90             0
  58  Cabinet         1.789          2.019          -0.819         0              270            0
  59  Cabinet         0.494          0.474          -1.149         0              0              0
  60  Cabinet         0.409          0.475          0.444          0              0              0
  61  Drawer          -0.696         0.475          -1.159         0              0              0
  62  Drawer          1.5            0.140          0.599          0              270            0
  63  Cabinet         1.389          0.474          -1.149         0              0              0
  64  Drawer          1.5            0.305          0.600          0              0              0
  65  StoveBurner     1.975          0.902          0.601          0              270            0
  66  Drawer          1.5            0.429          -0.019         0              0              0
  67  StoveBurner     1.764          0.902          0.819          0              270            0
  68  Drawer          1.5            0.519          1.220          0              0              0
  69  Cabinet         1.705          2.019          -1.449         0              0              0
  70  CounterTop      0.002          0.947          -1.513         0              0              0
  71  Drawer          1.5            0.629          0.605          0              0              0
  72  Cabinet         -0.627         2.019          -1.449         0              0              0
  73  StoveBurner     1.764          0.902          0.384          0              270            0
  74  Drawer          1.5            0.538          0.600          0              0              0
  75  Sink            0.0            0.893          -1.434         0              0              0
  76  Drawer          1.5            0.782          1.220          0              270            0
  77  Window          2.217          1.565          -0.384         0              0              0
  78  CounterTop      -0.014         0.961          0.505          0              0              0
  79  Drawer          1.5            0.200          1.220          0              0              0
  80  StoveBurner     1.975          0.902          0.819          0              270            0
  81  Window          -3.240         1.616          2.693          0              270            0
  82  Cabinet         -1.389         0.474          -1.149         0              0              0
  83  LightSwitch     -0.153         1.291          3.700          0              180            0
  84  GarbageCan      -1.796         0.009          1.330          0              270            358.295
  85  StoveKnob       1.602          0.917          0.570          0              270            180
  86  StoveKnob       1.602          0.917          0.625          0              270            180
  87  StoveKnob       1.602          0.917          0.739          0              270            180
  88  StoveKnob       1.602          0.917          0.680          0              270            180
  89  StoveKnob       1.602          0.917          0.462          0              270            180
  90  StoveKnob       1.602          0.917          0.517          0              270            180
  91  Microwave       1.932          0.899          -0.766         0              270            0
  92  CoffeeMachine   1.355          0.899          -1.596         0              0              0
  93  Fridge          -1.764         0.0            0.014          0              90             0
  94  SinkBasin       -0.014         0.736          -1.435         0              0              0
  95  Toaster         1.977          0.900          -0.336         0              270            0
  96  Faucet          -0.020         1.137          -1.605         0              270            0
  97  Chair           -9.354         0.000          1.242          0              180            0
  98  NorthWall
  99  EastWall
 100  SouthWall
 101  WestWall

Plan:
STEP 1: Turn left, walk to counter, turn left, walk to sink, turn right to face the sink. | STEP 2: Take the apple on the right out of the sink. | STEP 3: Turn right, turn right, walk to refrigerator, turn left to face refrigerator. | STEP 4: Put apple in refrigerator, close door, take apple out of refrigerator. | STEP 5: Turn left, walk to counter, turn left, walk to sink, turn right to face sink. | STEP 6: Put apple in sink on right side of sink. | END