Task: Take the apple from the table, put it in the refrigerator, take it out, heat the apple in the microwave

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -2.0           0.901          -2.25          0              270            0
   1  Pan             -0.165         0.975          -2.450         0              0              0              67
   2  Pan             -0.854         0.912          -3.878         0              90             0              35
   3  Spatula         -0.338         0.930          -1.555         0              0              0              62
   4  Spatula         -3.111         0.728          -0.652         0              225            0              79
   5  Spoon           -2.928         0.718          -0.922         0              0              0              79
   6  Cup             -2.678         0.717          -0.780         0              0              0              79
   7  Cup             -2.877         0.717          -0.684         0              225            0              79
   8  Knife           -0.441         0.778          -0.609         0              270            0              61
   9  Knife           -0.095         0.948          -1.493         0              90             0              62
  10  PepperShaker    -0.102         1.864          -2.586         0              0              0              54
  11  PepperShaker    -0.296         0.076          -0.993         0              0              0              39
  12  Mug             -3.286         1.008          -1.879         0              90             0              76
  13  Mug             -3.127         1.863          -2.508         0              0              0              76
  14  Pot             -2.836         0.903          -3.745         0              92.628         0              35
  15  Egg             -2.865         0.749          -0.780         0              0              0              79
  16  Cup             -0.014         0.916          -1.370         0              0              0              62
  17  Bread           -0.327         0.948          -3.681         0              298.222        0              35
  18  Fork            -3.024         0.747          -2.857         0              270            0              57
  19  Pan             -0.165         0.975          -2.030         0              180            0              66
  20  Potato          -2.821         0.760          -0.540         0              225            0              79
  21  Lettuce         -1.324         0.988          -3.759         1.631          253.771        357.213        35
  22  Tomato          -0.500         0.965          -1.432         0              0              0              62
  23  Apple           -2.620         0.759          -0.339         0              225            0              79
  24  SoapBottle      -2.532         0.716          -0.564         0              135            0              79
  25  Spatula         -3.292         0.728          -0.495         0              270            0              79
  26  SaltShaker      -3.338         1.288          -3.108         0              0              0              47
  27  Knife           -0.338         0.948          -0.507         0              0              0              62
  28  PepperShaker    -0.382         0.742          -0.837         0              0              0              61
  29  ButterKnife     -0.328         0.913          -3.012         0              0              0              35
  30  Plate           -1.914         0.788          -3.747         0              0              0              77
  31  DishSponge      -0.412         0.745          -0.912         0              0              0              61
  32  Spoon           -2.519         0.718          -0.753         0              135            0              79
  33  Mug             -2.930         0.762          -0.358         0              135            0              75
  34  Bowl            -3.079         1.011          -2.064         0              90             0              76
  35  CounterTop      -1.789         0.949          -3.803         0              0              0
  36  Cabinet         -0.577         0.388          -3.476         0              0              0
  37  Cabinet         -0.605         0.388          -3.511         0              0              0
  38  Cabinet         -2.976         0.388          -3.201         0              0              0
  39  Cabinet         -0.577         0.388          -0.447         0              0              0
  40  Cabinet         -0.577         0.388          -1.725         0              0              0
  41  Cabinet         -0.226         1.803          -1.743         0              0              0
  42  Cabinet         -0.228         1.799          -0.447         0              0              0
  43  Cabinet         -6.010         1.139          -6.019         0              0              0
  44  Cabinet         -3.022         2.098          -2.681         0              0              0
  45  Cabinet         -3.022         2.098          -1.743         0              0              0
  46  Cabinet         -0.577         0.388          -2.736         0              0              0
  47  Cabinet         -3.232         1.803          -3.343         0              0              0
  48  Cabinet         -2.811         1.810          -3.764         0              0              0
  49  Cabinet         -1.233         1.810          -3.764         0              0              0
  50  Cabinet         -1.364         0.388          -3.511         0              0              0
  51  Cabinet         -1.380         0.388          -3.511         0              0              0
  52  Cabinet         -0.226         1.803          -2.725         0              0              0
  53  Cabinet         -0.236         2.098          -1.767         0              0              0
  54  Cabinet         -0.236         2.098          -2.705         0              0              0
  55  Cabinet         -0.193         1.210          -4.239         0              0              0
  56  Cabinet         -2.148         0.388          -3.511         0              0              0
  57  Drawer          -3.104         0.797          -2.968         0              0              0
  58  Drawer          -0.449         0.797          -1.410         0              0              0
  59  Sink            -1.786         0.902          -3.748         0              0              0
  60  StoveBurner     -0.376         0.936          -2.451         0              0              0
  61  Drawer          -0.449         0.797          -0.762         0              0              0
  62  CounterTop      -0.268         0.951          -1.089         0              0              0
  63  Drawer          -0.449         0.797          -3.348         0              0              0
  64  StoveBurner     -0.376         0.936          -2.031         0              180            0
  65  Drawer          -0.449         0.797          -2.968         0              0              0
  66  StoveBurner     -0.165         0.936          -2.030         0              180            0
  67  StoveBurner     -0.165         0.936          -2.450         0              0              0
  68  StoveKnob       -0.568         0.903          -2.313         45             270            0
  69  StoveKnob       -0.568         0.903          -2.470         45             270            0
  70  StoveKnob       -0.568         0.903          -2.166         45             270            0
  71  StoveKnob       -0.568         0.903          -2.003         45             270            0
  72  Microwave       -0.143         0.903          -0.908         0              270            0
  73  LightSwitch     -1.108         1.457          0.338          0              180            0
  74  GarbageCan      -0.283         -0.032         -0.035         0              270            0
  75  CoffeeMachine   -3.104         0.837          -0.185         0              135            0
  76  Fridge          -3.188         0.0            -2.184         0              0              0
  77  SinkBasin       -1.786         0.779          -3.747         0              0              0
  78  Toaster         -0.230         0.903          -3.406         0              270            0
  79  DiningTable     -2.800         0.003          -0.505         0              0              0
  80  Chair           -3.044         0.003          -1.223         0              32.194         0
  81  Faucet          -1.791         1.136          -3.913         0              270            0
  82  NorthWall
  83  EastWall
  84  SouthWall
  85  WestWall

Plan:
STEP 1: Turn right and walk to the dining table | STEP 2: Grab the apple on the table | STEP 3: Turn left, go to the refrigerator | STEP 4: Open the refrigerator, put the apple on the shelf below the shelf with a pan, close the refrigerator, open the refrigerator, take the apple out | STEP 5: Turn around and walk to the microwave | STEP 6: Open the microwave and put the apple in | END