Task: Heat an apple from the sink, put the apple in the fridge

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          0.5            0              90             0
   1  Potato          1.771          1.055          -0.888         0              270            0              66
   2  Ladle           1.808          1.683          0.487          0              0              0              51
   3  ButterKnife     0.989          0.910          0.827          0              90             0              42
   4  DishSponge      1.800          0.069          1.540          0              270            0              60
   5  DishSponge      1.77           0.069          1.731          0              270            0              60
   6  Pot             1.807          0.909          -0.320         0              180            0              44
   7  Fork            1.451          0.911          0.415          0              90             0              42
   8  Egg             0.988          0.945          1.269          0              90             0              42
   9  Cup             -0.334         1.057          -1.382         0              0              0              69
  10  Cup             1.706          1.013          -0.676         0              270            0              66
  11  Knife           1.012          0.943          -1.264         0              0              0              46
  12  Knife           1.796          0.943          -1.460         0              90             0              46
  13  SoapBottle      1.735          1.631          -0.828         0              0              0              54
  14  SaltShaker      1.775          2.131          1.198          0              0              0              49
  15  SaltShaker      1.183          0.906          -1.264         0              90             0              46
  16  PepperShaker    0.220          0.905          0.915          0              90             0              42
  17  Mug             1.878          2.132          0.805          0              0              0              50
  18  Mug             0.502          0.940          -1.460         0              0              0              68
  19  Apple           1.170          0.817          -1.654         0              0              0              61
  20  Plate           1.802          1.647          -0.000         0              0              0              52
  21  SoapBottle      1.865          0.909          -1.631         0              90             0              46
  22  Cup             0.963          0.758          -1.654         0              0              0              61
  23  Egg             -0.887         0.781          -1.664         0              0              0              69
  24  Fork            1.762          0.911          0.415          0              90             0              42
  25  Ladle           1.201          0.926          0.743          3.346          0              346.984        42
  26  Apple           1.709          0.127          1.588          0              270            0              60
  27  SaltShaker      1.935          0.906          -1.374         0              90             0              46
  28  Pan             1.281          0.900          1.190          0              0              0              42
  29  Tomato          -0.644         0.810          -1.594         0              0              0              69
  30  Spatula         1.762          0.925          0.622          0              180            0              42
  31  Potato          1.656          0.951          -1.631         0              90             0              46
  32  Knife           1.607          0.932          0.462          0              90             353.610        42
  33  ButterKnife     0.296          0.9            -1.296         0              14.568         0              46
  34  Bread           1.614          0.977          0.761          0              50.566         0              42
  35  Lettuce         0.856          0.989          1.120          0              270            1.529          42
  36  PepperShaker    1.878          2.132          0.918          0              0              0              50
  37  Pot             1.548          0.909          0.075          0              180            0              48
  38  DishSponge      1.757          0.910          1.180          0              90             0              42
  39  Spoon           1.032          0.761          -1.544         0              180            0              61
  40  Bowl            1.805          1.644          -1.724         0              0              0              56
  41  Mug             0.476          0.905          1.092          0              90             0              42
  42  CounterTop      0.989          0.946          1.016          0              90             0
  43  StoveBurner     1.807          0.907          0.075          0              180            0
  44  StoveBurner     1.807          0.907          -0.320         0              180            0
  45  StoveBurner     1.543          0.907          -0.320         0              90             0
  46  CounterTop      0.989          0.946          -1.516         0              90             0
  47  Sink            1.100          0.906          -1.599         0              0              0
  48  StoveBurner     1.548          0.907          0.075          0              180            0
  49  Cabinet         1.658          2.299          1.313          0              0              0
  50  Cabinet         1.658          2.299          0.686          0              0              0
  51  Cabinet         1.658          2.049          0.673          0              0              0
  52  Cabinet         1.658          2.059          0.193          0              0              0
  53  Cabinet         1.658          2.059          -0.593         0              0              0
  54  Cabinet         1.658          2.049          -0.606         0              0              0
  55  Cabinet         1.658          2.049          -1.206         0              0              0
  56  Cabinet         1.658          2.049          -1.893         0              0              0
  57  Toaster         0.131          0.900          -1.589         0              0              0
  58  Window          -0.372         1.588          3.349          90             0              0
  59  Window          0.782          1.741          -1.893         90             0              0
  60  GarbageCan      1.770          -0.029         1.685          0              270            0
  61  SinkBasin       1.091          0.740          -1.599         0              0              0
  62  StoveKnob       1.364          0.821          0.086          48.421         270            0
  63  StoveKnob       1.364          0.821          -0.180         48.421         270            0
  64  StoveKnob       1.364          0.821          -0.317         48.421         270            0
  65  StoveKnob       1.364          0.821          -0.054         48.421         270            0
  66  Microwave       1.752          0.900          -0.843         0              270            0
  67  LightSwitch     2.0            1.261          3.094          0              270            0
  68  CoffeeMachine   0.501          0.900          -1.600         0              0              0
  69  Fridge          -0.533         0.0            -1.554         0              0              0
  70  Chair           1.068          0.000          1.752          0              191.622        0
  71  Faucet          1.110          1.138          -1.764         0              270            0
  72  Chair           0.357          0.000          1.710          0              178.899        0
  73  NorthWall
  74  EastWall
  75  SouthWall
  76  WestWall

Plan:
STEP 1: Turn to the left to move towards the kitchen sink | STEP 2: Pick up the apple that is inside the sink on the left side | STEP 3: Turn to the left to face the microwave | STEP 4: Place the apple inside of the microwave between the cup and the avocado, turn on then open the door | STEP 5: Pick the apple back up and carry it to to the fridge | STEP 6: Place the apple on the bottom shelf of the fridge | END