Task: Put a cold apple in a bin.

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          1.75           0              270            0
   1  Potato          -0.002         0.784          -1.324         0              0              0              90
   2  Kettle          1.975          0.938          0.384          0              180            0              52
   3  DishSponge      0.250          0.112          -1.471         0              0              0              55
   4  DishSponge      -0.361         0.114          -1.409         0              0              0              45
   5  Fork            1.713          0.347          0.531          0              0              0              60
   6  Fork            0.000          0.926          0.041          0              0              0              74
   7  Spoon           0.000          0.926          0.506          0              0              0              74
   8  Spoon           -1.668         0.912          -1.707         0              90             0              66
   9  Spatula         1.714          0.597          0.125          0              270            0              51
  10  Spatula         0.000          0.940          0.273          0              0              0              74
  11  Cup             0.250          0.110          -1.282         0              0              0              55
  12  Plate           -0.106         0.924          1.202          0              0              0              74
  13  Knife           0.170          0.782          -1.435         0              0              0              90
  14  Knife           0.107          0.947          0.738          0              0              0              74
  15  Bowl            -0.990         1.678          -1.652         0              0              0              68
  16  SaltShaker      1.847          1.655          -1.053         0              270            0              54
  17  PepperShaker    1.712          0.221          1.088          0              0              0              75
  18  PepperShaker    1.273          0.105          -1.542         0              0              0              59
  19  Mug             -0.320         0.920          0.738          0              0              0              74
  20  Apple           -1.796         0.094          1.329          0              270            0              80
  21  SoapBottle      1.464          1.683          -1.614         0              0              0              65
  22  Cup             2.039          1.657          -1.355         0              270            0              54
  23  Pot             0.889          0.9            -1.412         0              0              0              66
  24  Fork            1.653          0.912          -0.210         0              0              0              66
  25  Ladle           1.769          0.807          1.365          0              270            0              72
  26  Kettle          0.000          0.926          0.970          0              90             0              74
  27  Egg             -1.750         1.733          0.201          0              90             0              89
  28  Plate           -1.841         1.660          -1.131         0              90             0              53
  29  Pan             1.765          0.938          0.819          0              180            0              63
  30  Lettuce         -1.710         0.883          -0.137         0              304.910        0              89
  31  Spatula         1.760          0.710          0.737          0              270            0              67
  32  Apple           1.924          1.059          -0.704         0              270            0              87
  33  Knife           -1.050         0.933          -1.318         0              0              0              66
  34  SaltShaker      1.802          0.907          -1.221         0              0              0              66
  35  PepperShaker    0.214          0.921          0.273          0              0              0              74
  36  CellPhone       -0.638         0.909          -1.318         0              0              0              66
  37  ButterKnife     0.661          0.911          -1.513         0              0              0              66
  38  Bread           -0.106         1.006          -0.190         0              0              0              74
  39  Tomato          -1.721         0.618          0.201          0              90             0              89
  40  Potato          -0.175         0.784          -1.546         0              0              0              90
  41  DishSponge      1.769          0.121          0.454          0              270            0              58
  42  Spoon           -0.802         0.672          -1.301         0              0              0              57
  43  Mug             -1.663         0.558          -0.081         0              90             0              89
  44  Bowl            1.924          1.657          -1.204         0              270            0              54
  45  Cabinet         -0.495         0.474          -1.149         0              0              0
  46  Window          -0.010         1.582          -1.821         0              0              0
  47  Drawer          0.805          0.475          -1.159         0              0              0
  48  StoveBurner     1.764          0.902          0.601          0              270            0
  49  Drawer          1.5            0.196          -0.019         0              0              0
  50  Drawer          1.5            0.629          -0.018         0              0              0
  51  Drawer          1.5            0.602          -0.019         0              270            0
  52  StoveBurner     1.975          0.902          0.384          0              270            0
  53  Cabinet         -1.703         2.022          -1.453         0              90             0
  54  Cabinet         1.789          2.019          -0.819         0              270            0
  55  Cabinet         0.494          0.474          -1.149         0              0              0
  56  Cabinet         0.409          0.475          0.444          0              0              0
  57  Drawer          -0.696         0.475          -1.159         0              0              0
  58  Drawer          1.5            0.140          0.599          0              270            0
  59  Cabinet         1.389          0.474          -1.149         0              0              0
  60  Drawer          1.5            0.305          0.600          0              0              0
  61  StoveBurner     1.975          0.902          0.601          0              270            0
  62  Drawer          1.5            0.429          -0.019         0              0              0
  63  StoveBurner     1.764          0.902          0.819          0              270            0
  64  Drawer          1.5            0.519          1.220          0              0              0
  65  Cabinet         1.705          2.019          -1.449         0              0              0
  66  CounterTop      0.002          0.947          -1.513         0              0              0
  67  Drawer          1.5            0.629          0.605          0              0              0
  68  Cabinet         -0.627         2.019          -1.449         0              0              0
  69  StoveBurner     1.764          0.902          0.384          0              270            0
  70  Drawer          1.5            0.538          0.600          0              0              0
  71  Sink            0.0            0.893          -1.434         0              0              0
  72  Drawer          1.5            0.782          1.220          0              270            0
  73  Window          2.217          1.565          -0.384         0              0              0
  74  CounterTop      -0.014         0.961          0.505          0              0              0
  75  Drawer          1.5            0.200          1.220          0              0              0
  76  StoveBurner     1.975          0.902          0.819          0              270            0
  77  Window          -3.240         1.616          2.693          0              270            0
  78  Cabinet         -1.389         0.474          -1.149         0              0              0
  79  LightSwitch     -0.153         1.291          3.700          0              180            0
  80  GarbageCan      -1.796         0.009          1.330          0              270            358.295
  81  StoveKnob       1.602          0.917          0.570          0              270            180
  82  StoveKnob       1.602          0.917          0.625          0              270            180
  83  StoveKnob       1.602          0.917          0.739          0              270            180
  84  StoveKnob       1.602          0.917          0.680          0              270            180
  85  StoveKnob       1.602          0.917          0.462          0              270            180
  86  StoveKnob       1.602          0.917          0.517          0              270            180
  87  Microwave       1.932          0.899          -0.766         0              270            0
  88  CoffeeMachine   1.355          0.899          -1.596         0              0              0
  89  Fridge          -1.764         0.0            0.014          0              90             0
  90  SinkBasin       -0.014         0.736          -1.435         0              0              0
  91  Toaster         1.977          0.900          -0.336         0              270            0
  92  Faucet          -0.020         1.137          -1.605         0              270            0
  93  Chair           -9.354         0.000          1.242          0              180            0
  94  NorthWall
  95  EastWall
  96  SouthWall
  97  WestWall

Plan:
STEP 1: Go ahead to the white bin. | STEP 2: Take the apple out of the bin. | STEP 3: Go to the refrigerator to the left of the bin. | STEP 4: Put the apple in the refrigerator to the right of the lettuce. Close then open the refrigerator door. Take the apple. | STEP 5: Go to the white bin to the right of the refrigerator. | STEP 6: Put the apple in the bin. | END