Task: Put a cold 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           -1.5           0.900          2.75           0              0              0
   1  Potato          -1.716         0.863          0.201          0              90             0              94
   2  Ladle           1.117          0.955          -1.318         0              0              0              71
   3  Ladle           -0.867         1.724          -1.614         0              0              0              73
   4  ButterKnife     0.000          0.925          1.202          0              0              0              79
   5  ButterKnife     -1.727         0.911          -0.914         0              0              0              71
   6  Fork            1.802          0.912          -1.610         0              0              0              71
   7  Fork            0.083          0.760          -1.490         0              90             0              95
   8  Spoon           -0.106         0.926          -0.190         0              0              0              79
   9  Spatula         0.256          0.775          -1.546         0              90             0              95
  10  Spatula         0.170          0.775          -1.546         0              90             0              95
  11  Egg             -1.803         1.732          -0.175         0              90             0              94
  12  Egg             2.020          1.063          -0.861         0              270            0              92
  13  SoapBottle      0.214          0.929          0.273          0              0              0              79
  14  SoapBottle      1.574          0.915          -1.610         0              0              0              71
  15  Tomato          0.321          0.980          0.506          0              0              0              79
  16  Bowl            0.361          0.111          -1.471         0              0              0              60
  17  SaltShaker      -0.213         0.921          0.041          0              0              0              79
  18  SaltShaker      -1.803         1.658          -0.980         0              90             0              58
  19  PepperShaker    0.194          0.109          -1.220         0              0              0              60
  20  PepperShaker    0.194          0.109          -1.345         0              0              0              60
  21  Lettuce         0.321          1.002          0.738          0              0              0              79
  22  Mug             -0.175         0.755          -1.435         0              0              0              95
  23  Mug             -1.814         0.906          -0.864         0              0              0              71
  24  Apple           -0.002         0.813          -1.380         0              0              0              95
  25  Apple           -1.874         0.964          -1.513         0              0              0              71
  26  SoapBottle      -1.874         0.915          -1.707         0              0              0              71
  27  Cup             -0.320         0.923          0.041          0              0              0              79
  28  Pot             0.000          0.929          0.041          0              0              0              79
  29  Fork            1.714          0.120          0.672          0              270            0              63
  30  Ladle           0.107          0.969          0.970          0              0              0              79
  31  Kettle          -1.668         0.912          -1.610         0              0              0              71
  32  Egg             -1.256         0.968          -1.610         0              0              0              71
  33  Plate           -1.244         0.112          -1.487         0              0              0              83
  34  Pan             1.975          0.938          0.384          0              180            0              57
  35  Lettuce         -0.320         1.002          0.273          0              0              0              79
  36  Spatula         1.815          0.364          0.116          0              270            0              67
  37  Apple           -1.796         0.095          1.329          0              270            0              85
  38  Knife           0.889          0.933          -1.610         0              0              0              71
  39  SaltShaker      0.214          0.921          0.738          0              0              0              79
  40  PepperShaker    0.904          0.667          -1.332         0              0              0              52
  41  CellPhone       -0.320         0.923          -0.190         0              0              0              79
  42  ButterKnife     1.640          0.911          1.107          0              0              0              71
  43  Bread           -1.697         1.549          0.107          0              90             0              94
  44  Tomato          1.802          0.966          -1.415         0              0              0              71
  45  Potato          -0.175         0.784          -1.546         0              0              0              95
  46  DishSponge      1.764          0.346          0.667          0              0              0              65
  47  Spoon           -1.727         0.912          -1.013         0              0              0              71
  48  Mug             -0.106         0.920          0.738          0              0              0              79
  49  Bowl            2.001          1.657          -0.977         0              270            0              59
  50  Cabinet         -0.495         0.474          -1.149         0              0              0
  51  Window          -0.010         1.582          -1.821         0              0              0
  52  Drawer          0.805          0.475          -1.159         0              0              0
  53  StoveBurner     1.764          0.902          0.601          0              270            0
  54  Drawer          1.5            0.196          -0.019         0              0              0
  55  Drawer          1.5            0.629          -0.018         0              0              0
  56  Drawer          1.5            0.602          -0.019         0              270            0
  57  StoveBurner     1.975          0.902          0.384          0              270            0
  58  Cabinet         -1.703         2.022          -1.453         0              90             0
  59  Cabinet         1.789          2.019          -0.819         0              270            0
  60  Cabinet         0.494          0.474          -1.149         0              0              0
  61  Cabinet         0.409          0.475          0.444          0              0              0
  62  Drawer          -0.696         0.475          -1.159         0              0              0
  63  Drawer          1.5            0.140          0.599          0              270            0
  64  Cabinet         1.389          0.474          -1.149         0              0              0
  65  Drawer          1.5            0.305          0.600          0              0              0
  66  StoveBurner     1.975          0.902          0.601          0              270            0
  67  Drawer          1.5            0.429          -0.019         0              0              0
  68  StoveBurner     1.764          0.902          0.819          0              270            0
  69  Drawer          1.5            0.519          1.220          0              0              0
  70  Cabinet         1.705          2.019          -1.449         0              0              0
  71  CounterTop      0.002          0.947          -1.513         0              0              0
  72  Drawer          1.5            0.629          0.605          0              0              0
  73  Cabinet         -0.627         2.019          -1.449         0              0              0
  74  StoveBurner     1.764          0.902          0.384          0              270            0
  75  Drawer          1.5            0.538          0.600          0              0              0
  76  Sink            0.0            0.893          -1.434         0              0              0
  77  Drawer          1.5            0.782          1.220          0              270            0
  78  Window          2.217          1.565          -0.384         0              0              0
  79  CounterTop      -0.014         0.961          0.505          0              0              0
  80  Drawer          1.5            0.200          1.220          0              0              0
  81  StoveBurner     1.975          0.902          0.819          0              270            0
  82  Window          -3.240         1.616          2.693          0              270            0
  83  Cabinet         -1.389         0.474          -1.149         0              0              0
  84  LightSwitch     -0.153         1.291          3.700          0              180            0
  85  GarbageCan      -1.796         0.009          1.330          0              270            358.295
  86  StoveKnob       1.602          0.917          0.570          0              270            180
  87  StoveKnob       1.602          0.917          0.625          0              270            180
  88  StoveKnob       1.602          0.917          0.739          0              270            180
  89  StoveKnob       1.602          0.917          0.680          0              270            180
  90  StoveKnob       1.602          0.917          0.462          0              270            180
  91  StoveKnob       1.602          0.917          0.517          0              270            180
  92  Microwave       1.932          0.899          -0.766         0              270            0
  93  CoffeeMachine   1.355          0.899          -1.596         0              0              0
  94  Fridge          -1.764         0.0            0.014          0              90             0
  95  SinkBasin       -0.014         0.736          -1.435         0              0              0
  96  Toaster         1.977          0.900          -0.336         0              270            0
  97  Faucet          -0.020         1.137          -1.605         0              270            0
  98  Chair           -9.354         0.000          1.242          0              180            0
  99  NorthWall
 100  EastWall
 101  SouthWall
 102  WestWall

Plan:
STEP 1: Turn left, turn right, walk past the island, turn left, turn to face sink. | STEP 2: Take the apple from the sink. | STEP 3: Turn right, turn right and walk halfway along the island, turn to face refrigerator. | STEP 4: Put apple in refrigerator, take apple out of refrigerator. | STEP 5: Turn left, turn right, turn to face sink. | STEP 6: Put the apple in the sink. | END