Task: Heat an apple and 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           -2.5           0.901          -2.75          0              180            0
   1  DishSponge      -2.439         0.716          -0.371         0              270            0              86
   2  DishSponge      -2.009         0.913          -4.027         0              0              0              42
   3  Spatula         -0.500         0.761          -3.079         0              90             0              72
   4  Spatula         -2.608         0.731          -0.150         0              315            0              86
   5  Spoon           -0.176         0.917          -1.616         0              0              0              69
   6  Spoon           -0.419         0.917          -1.677         0              0              0              69
   7  Fork            -0.419         0.916          -1.309         0              0              0              69
   8  Fork            -0.338         0.916          -0.524         0              0              0              69
   9  Egg             -0.243         0.949          -3.878         0              0              0              42
  10  Egg             -3.027         1.434          -1.879         0              90             0              83
  11  Cup             -3.182         0.641          -1.879         0              90             0              83
  12  Plate           -2.449         0.911          -3.804         0              0              0              42
  13  Knife           -0.352         0.779          -1.563         0              90             0              65
  14  SoapBottle      -0.295         0.081          -3.317         0              270            0              43
  15  Bowl            -3.155         0.711          -0.608         0              225            0              86
  16  Bowl            -1.523         0.080          -3.673         0              0              0              58
  17  PepperShaker    -0.413         0.742          -3.347         0              0              0              70
  18  PepperShaker    -0.652         0.078          -3.714         0              0              0              44
  19  Mug             -2.676         0.711          -0.483         0              225            0              86
  20  Mug             -3.130         1.393          -2.064         0              90             0              83
  21  Pot             -0.165         0.975          -2.030         0              180            0              73
  22  Egg             -3.014         0.922          -2.501         0              90             0              83
  23  Cup             -0.373         0.081          -2.853         0              0              0              53
  24  Bread           -0.327         0.948          -3.681         0              298.222        0              42
  25  Fork            -3.053         0.747          -3.078         0              90             0              64
  26  Pan             -0.394         0.973          -2.414         0              0              0              67
  27  Potato          -1.707         0.834          -3.832         0              0              0              84
  28  Lettuce         -2.608         0.801          -0.841         0              135            0              86
  29  Tomato          -2.629         0.963          -3.729         0              0              0              42
  30  Apple           -3.123         0.756          -0.841         0              225            0              86
  31  SoapBottle      -0.253         0.079          0.012          0              270            0              81
  32  Spatula         -0.500         0.761          -1.408         0              90             0              65
  33  SaltShaker      -2.270         0.910          -3.804         0              0              0              42
  34  Knife           -1.058         0.946          -3.655         0              0              0              42
  35  PepperShaker    -0.014         0.912          -1.616         0              0              0              69
  36  ButterKnife     -0.419         0.916          -1.555         0              0              0              69
  37  Plate           -1.262         0.911          -3.952         0              0              0              42
  38  DishSponge      -1.845         0.790          -3.790         0              0              0              84
  39  Spoon           -2.664         0.718          -0.697         0              135            0              86
  40  Mug             -1.214         0.075          -3.712         0              0              0              57
  41  Bowl            -2.853         0.714          -0.684         0              135            0              86
  42  CounterTop      -1.789         0.949          -3.803         0              0              0
  43  Cabinet         -0.577         0.388          -3.476         0              0              0
  44  Cabinet         -0.605         0.388          -3.511         0              0              0
  45  Cabinet         -2.976         0.388          -3.201         0              0              0
  46  Cabinet         -0.577         0.388          -0.447         0              0              0
  47  Cabinet         -0.577         0.388          -1.725         0              0              0
  48  Cabinet         -0.226         1.803          -1.743         0              0              0
  49  Cabinet         -0.228         1.799          -0.447         0              0              0
  50  Cabinet         -6.010         1.139          -6.019         0              0              0
  51  Cabinet         -3.022         2.098          -2.681         0              0              0
  52  Cabinet         -3.022         2.098          -1.743         0              0              0
  53  Cabinet         -0.577         0.388          -2.736         0              0              0
  54  Cabinet         -3.232         1.803          -3.343         0              0              0
  55  Cabinet         -2.811         1.810          -3.764         0              0              0
  56  Cabinet         -1.233         1.810          -3.764         0              0              0
  57  Cabinet         -1.364         0.388          -3.511         0              0              0
  58  Cabinet         -1.380         0.388          -3.511         0              0              0
  59  Cabinet         -0.226         1.803          -2.725         0              0              0
  60  Cabinet         -0.236         2.098          -1.767         0              0              0
  61  Cabinet         -0.236         2.098          -2.705         0              0              0
  62  Cabinet         -0.193         1.210          -4.239         0              0              0
  63  Cabinet         -2.148         0.388          -3.511         0              0              0
  64  Drawer          -3.104         0.797          -2.968         0              0              0
  65  Drawer          -0.449         0.797          -1.410         0              0              0
  66  Sink            -1.786         0.902          -3.748         0              0              0
  67  StoveBurner     -0.376         0.936          -2.451         0              0              0
  68  Drawer          -0.449         0.797          -0.762         0              0              0
  69  CounterTop      -0.268         0.951          -1.089         0              0              0
  70  Drawer          -0.449         0.797          -3.348         0              0              0
  71  StoveBurner     -0.376         0.936          -2.031         0              180            0
  72  Drawer          -0.449         0.797          -2.968         0              0              0
  73  StoveBurner     -0.165         0.936          -2.030         0              180            0
  74  StoveBurner     -0.165         0.936          -2.450         0              0              0
  75  StoveKnob       -0.568         0.903          -2.313         45             270            0
  76  StoveKnob       -0.568         0.903          -2.470         45             270            0
  77  StoveKnob       -0.568         0.903          -2.166         45             270            0
  78  StoveKnob       -0.568         0.903          -2.003         45             270            0
  79  Microwave       -0.143         0.903          -0.908         0              270            0
  80  LightSwitch     -1.108         1.457          0.338          0              180            0
  81  GarbageCan      -0.283         -0.032         -0.035         0              270            0
  82  CoffeeMachine   -3.104         0.837          -0.185         0              135            0
  83  Fridge          -3.188         0.0            -2.184         0              0              0
  84  SinkBasin       -1.786         0.779          -3.747         0              0              0
  85  Toaster         -0.230         0.903          -3.406         0              270            0
  86  DiningTable     -2.800         0.003          -0.505         0              0              0
  87  Chair           -3.044         0.003          -1.223         0              32.194         0
  88  Faucet          -1.791         1.136          -3.913         0              270            0
  89  NorthWall
  90  EastWall
  91  SouthWall
  92  WestWall

Plan:
STEP 1: Turn right move forward slightly then turn left and face to the kitchen counter | STEP 2: Pick up the red apple from the counter | STEP 3: Turn left and walk straight slightly then turn left and across the room turn right and walk up to the microwave on the kitchen counter | STEP 4: Place the apple inside the microwave, heat then remove the apple and close the door | STEP 5: Turn right and move forward slightly then turn right and walk straight to the refrigerator and face it | STEP 6: Open the refrigerator place the apple next to the silver cup then close the doors | END