Task: Heat the apple from the sink, put it in the refrigerator

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.5            0.900          -0.75          0              270            0
   1  Pan             1.543          0.909          -0.320         0              90             0              40
   2  Pan             1.807          0.909          -0.320         0              180            0              39
   3  Potato          1.839          0.950          0.518          0              90             0              37
   4  Ladle           1.656          0.955          -1.717         0              90             0              41
   5  Ladle           0.258          0.955          -1.263         0              0              0              41
   6  DishSponge      1.529          0.910          0.311          0              90             0              37
   7  Fork            1.245          0.911          1.004          0              90             0              37
   8  Plate           1.757          0.912          0.827          0              90             0              37
   9  Plate           1.726          0.912          -1.374         0              90             0              41
  10  SoapBottle      1.878          2.135          0.805          0              0              0              45
  11  Tomato          0.220          0.974          0.915          0              90             0              37
  12  SaltShaker      1.012          0.906          -1.264         0              90             0              41
  13  SaltShaker      1.844          2.131          1.275          0              180            0              44
  14  PepperShaker    1.501          0.905          0.739          0              90             0              37
  15  Plate           -0.692         0.462          -1.412         0              0              0              64
  16  SoapBottle      1.800          0.068          1.588          0              270            0              55
  17  Cup             1.935          0.909          -1.802         0              90             0              41
  18  Egg             1.170          0.795          -1.544         0              0              0              56
  19  Fork            0.220          0.911          1.004          0              90             0              37
  20  Ladle           0.989          0.954          0.915          0              90             0              37
  21  Apple           1.239          0.817          -1.654         0              0              0              56
  22  SaltShaker      1.775          2.131          1.159          0              0              0              44
  23  Pan             0.476          0.910          0.827          0              180            0              37
  24  Tomato          0.455          0.975          -1.263         0              90             0              41
  25  Spatula         1.865          0.926          -1.631         0              0              0              41
  26  Potato          -0.334         1.099          -1.357         0              0              0              64
  27  Knife           1.839          0.943          0.363          0              0              0              37
  28  ButterKnife     1.607          0.910          0.415          0              90             0              37
  29  Bread           1.757          0.987          1.092          0              90             0              37
  30  Lettuce         0.856          0.989          1.120          0              270            1.529          37
  31  PepperShaker    1.586          0.906          -1.802         0              90             0              41
  32  Pot             1.548          0.909          0.075          0              180            0              43
  33  DishSponge      1.501          0.910          1.269          0              90             0              37
  34  Spoon           0.476          0.911          1.004          0              90             0              37
  35  Bowl            1.808          1.638          0.375          0              0              0              46
  36  Mug             -0.692         1.678          -1.629         0              0              0              64
  37  CounterTop      0.989          0.946          1.016          0              90             0
  38  StoveBurner     1.807          0.907          0.075          0              180            0
  39  StoveBurner     1.807          0.907          -0.320         0              180            0
  40  StoveBurner     1.543          0.907          -0.320         0              90             0
  41  CounterTop      0.989          0.946          -1.516         0              90             0
  42  Sink            1.100          0.906          -1.599         0              0              0
  43  StoveBurner     1.548          0.907          0.075          0              180            0
  44  Cabinet         1.658          2.299          1.313          0              0              0
  45  Cabinet         1.658          2.299          0.686          0              0              0
  46  Cabinet         1.658          2.049          0.673          0              0              0
  47  Cabinet         1.658          2.059          0.193          0              0              0
  48  Cabinet         1.658          2.059          -0.593         0              0              0
  49  Cabinet         1.658          2.049          -0.606         0              0              0
  50  Cabinet         1.658          2.049          -1.206         0              0              0
  51  Cabinet         1.658          2.049          -1.893         0              0              0
  52  Toaster         0.131          0.900          -1.589         0              0              0
  53  Window          -0.372         1.588          3.349          90             0              0
  54  Window          0.782          1.741          -1.893         90             0              0
  55  GarbageCan      1.770          -0.029         1.685          0              270            0
  56  SinkBasin       1.091          0.740          -1.599         0              0              0
  57  StoveKnob       1.364          0.821          0.086          48.421         270            0
  58  StoveKnob       1.364          0.821          -0.180         48.421         270            0
  59  StoveKnob       1.364          0.821          -0.317         48.421         270            0
  60  StoveKnob       1.364          0.821          -0.054         48.421         270            0
  61  Microwave       1.752          0.900          -0.843         0              270            0
  62  LightSwitch     2.0            1.261          3.094          0              270            0
  63  CoffeeMachine   0.501          0.900          -1.600         0              0              0
  64  Fridge          -0.533         0.0            -1.554         0              0              0
  65  Chair           1.068          0.000          1.752          0              191.622        0
  66  Faucet          1.110          1.138          -1.764         0              270            0
  67  Chair           0.357          0.000          1.710          0              178.899        0
  68  NorthWall
  69  EastWall
  70  SouthWall
  71  WestWall

Plan:
STEP 1: Turn around, walk to the sink on the right | STEP 2: Grab the apple from the sink | STEP 3: Turn around to the microwave | STEP 4: Open the microwave, put the apple in, close the microwave, turn on the microwave, open the microwave, take the apple out, close the microwave | STEP 5: Turn around, walk to the refrigerator | STEP 6: Open the refrigerator, put the apple in, close the refrigerator | END