Task: Cool an apple, put it on a shelf

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          0.869          -3.5           0              90             0
   1  Pan             -0.252         0.899          1.101          0              270            0              64
   2  Potato          -1.535         0.733          -3.529         0              90             0              65
   3  DishSponge      -1.056         0.900          0.758          0              270            0              64
   4  ButterKnife     -2.054         0.701          -1.091         0              0              0              74
   5  Spatula         0.866          0.774          0.002          0              270            0              37
   6  Fork            -0.654         0.901          0.843          0              270            0              64
   7  Egg             0.601          0.701          0.508          0              0              0              43
   8  Egg             -1.297         0.088          -3.684         0              270            0              53
   9  Cup             0.746          1.373          -2.190         0              270            0              58
  10  Cup             0.721          0.663          0.448          0              0              0              43
  11  Knife           -1.970         0.724          -0.875         0              0              0              74
  12  Knife           0.961          0.688          0.448          0              90             0              43
  13  Bowl            0.949          1.462          -0.207         0              0              0              49
  14  PepperShaker    0.566          0.012          -0.637         0              0              0              41
  15  Apple           -1.843         0.852          -3.705         0              0              0              60
  16  Pot             -1.552         0.930          0.785          0              0              0              42
  17  Plate           -1.719         0.705          -1.199         0              0              0              74
  18  Fork            0.769          0.760          -0.252         0              0              0              37
  19  SoapBottle      -1.970         0.701          -1.416         0              0              0              74
  20  Apple           -1.578         0.753          -3.445         0              0              0              65
  21  Pan             -2.097         0.930          0.785          0              0              0              40
  22  Egg             0.630          0.809          -0.625         0              270            0              61
  23  Spatula         -0.855         0.915          1.187          0              270            0              64
  24  Potato          0.824          1.407          -1.802         0              270            0              58
  25  Cup             0.746          1.373          -1.958         0              270            0              58
  26  SaltShaker      0.901          0.661          0.265          0              0              0              43
  27  PepperShaker    0.721          0.661          0.326          0              0              0              43
  28  ButterKnife     -1.886         0.701          -1.524         0              0              0              74
  29  DishSponge      0.950          0.883          -0.108         0              0              0              38
  30  Bread           0.149          0.944          0.843          0              270            0              64
  31  Lettuce         -1.084         0.973          0.955          41.423         1.928          3.369          64
  32  Tomato          -0.051         0.949          1.187          0              270            0              64
  33  Spoon           0.841          0.666          0.326          0              0              0              43
  34  Knife           0.149          0.923          1.187          0              270            0              64
  35  Mug             0.842          0.010          -0.571         0              0              0              41
  36  Bowl            0.799          0.770          -0.735         0              270            0              61
  37  Drawer          0.706          0.766          -0.125         0              0              0
  38  CounterTop      0.792          0.919          -0.108         0              0              0
  39  Mirror          1.093          1.602          -0.643         0              0              0
  40  StoveBurner     -2.096         0.890          0.785          0              0              0
  41  Cabinet         0.507          0.345          -0.426         0              0              0
  42  StoveBurner     -1.552         0.890          0.785          0              0              0
  43  SideTable       0.770          -0.030         0.443          0              0              0
  44  Sink            0.753          0.882          -0.680         0              0              0
  45  StoveBurner     -2.096         0.890          1.049          0              0              0
  46  GarbageBag      -0.770         0.287          -3.541         270            73.521         83.489
  47  StoveBurner     -1.554         0.890          1.049          0              0              0
  48  Cabinet         0.507          0.345          0.156          0              0              0
  49  Cabinet         0.717          1.822          -0.398         0              0              0
  50  Cabinet         0.717          1.822          0.669          0              0              0
  51  CoffeeMachine   0.873          0.865          -1.256         0              270            0
  52  Toaster         -0.522         0.886          1.081          0              180            0
  53  GarbageCan      -1.261         -0.031         -3.610         0              270            0
  54  StoveKnob       -1.898         0.866          0.519          311.864        0              180
  55  StoveKnob       -1.754         0.866          0.519          311.864        0              180
  56  StoveKnob       -2.058         0.866          0.519          311.864        0              180
  57  StoveKnob       -1.600         0.866          0.519          311.864        0              180
  58  Fridge          0.680          -0.031         -1.957         0              0              0
  59  Window          -2.424         1.639          -2.453         90             270            0
  60  Microwave       -1.994         0.690          -3.651         0              0              0
  61  SinkBasin       0.757          0.762          -0.688         0              270            0
  62  LightSwitch     1.102          1.368          -3.737         0              270            0
  63  Shelf           -0.350         0.124          0.857          0              0              0
  64  DiningTable     -0.350         -0.025         0.857          0              0              0
  65  DiningTable     -1.909         -0.032         -3.507         0              0              0
  66  Blinds          -2.343         2.151          -2.437         0              270            0
  67  AluminumFoil    0.762          0.224          0.337          0              184.594        0
  68  AluminumFoil    0.751          0.225          0.287          0              0              0
  69  AluminumFoil    0.839          0.224          0.392          0              195.128        0
  70  Shelf           0.771          0.226          0.445          0              0              0
  71  Shelf           0.771          0.456          0.446          0              0              0
  72  Faucet          1.025          0.873          -0.678         270            180            0
  73  Shelf           -0.350         0.497          0.857          0              0              0
  74  DiningTable     -1.929         -0.035         -1.398         0              90             0
  75  Chair           -1.610         -0.024         -1.424         358.454        297.426        0
  76  NorthWall
  77  EastWall
  78  SouthWall
  79  WestWall

Plan:
STEP 1: Turn around, go to the small table | STEP 2: Pick up the yellow apple on the table | STEP 3: Turn right, go forward, turn right and go to the fridge | STEP 4: Open the fridge, put the apple in the fridge, close the fridge, wait, open the fridge, take the apple, close the fridge | STEP 5: Turn around, go forward a bit, turn right and go to the table, turn right | STEP 6: Put the apple on top of the shelf unit | END