Task: Cut an apple, wash it and put it 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           0.75           0.900          0.5            0              270            0
   1  Potato          -0.621         0.855          -1.206         0              90             0              105
   2  DishSponge      2.153          0.114          1.156          0              0              0              82
   3  Kettle          0.678          0.964          1.345          0              0              0              84
   4  Kettle          1.422          0.912          1.214          0              0              0              81
   5  ButterKnife     -1.056         0.820          -1.308         0              90             0              105
   6  ButterKnife     1.688          0.911          1.044          0              0              0              81
   7  Pot             0.281          0.964          1.082          0              0              0              52
   8  Spatula         -0.055         0.926          1.129          0              90             0              57
   9  Plate           1.955          0.914          1.383          0              0              0              81
  10  Plate           2.488          0.914          1.299          0              0              0              81
  11  Cup             -0.621         0.818          -1.308         0              90             0              105
  12  Cup             2.900          0.723          -0.504         0              0              0              101
  13  Egg             0.415          1.822          1.423          0              180            0              104
  14  SoapBottle      -2.019         0.429          1.417          0              270            0              99
  15  Tomato          3.220          0.871          -0.485         0              0              0              101
  16  Tomato          -0.151         0.942          1.383          0              0              0              57
  17  Bowl            2.872          0.112          1.156          0              0              0              78
  18  SaltShaker      -0.887         0.817          -1.400         0              0              0              105
  19  Bread           2.754          0.969          1.383          0              0              0              81
  20  Bread           2.221          0.969          1.468          0              0              0              81
  21  Apple           2.715          1.632          -0.578         0              0              0              101
  22  Apple           -0.151         0.980          1.214          0              0              0              57
  23  SoapBottle      0.900          1.661          -0.693         0              180            0              56
  24  Plate           2.211          0.902          -0.462         0              0              0              46
  25  Fork            1.141          0.912          -0.769         0              90             0              46
  26  Pot             1.155          0.915          1.383          0              0              0              81
  27  Bread           1.03           0.953          -0.519         0              0              0              46
  28  Egg             2.715          0.764          -0.504         0              0              0              101
  29  Kettle          -0.785         0.821          -1.255         0              270            0              105
  30  Tomato          0.888          0.942          -0.6           0              0              0              46
  31  Cup             2.962          1.561          -0.775         0              0              0              101
  32  Spatula         0.251          0.926          -0.302         0              0              0              46
  33  Apple           -0.246         0.980          1.044          0              0              0              57
  34  Pan             1.155          0.911          1.129          0              0              0              81
  35  Lettuce         2.912          1.345          -0.613         14.844         5.052          19.928         101
  36  SaltShaker      -0.151         0.908          1.044          0              0              0              57
  37  Knife           1.688          0.944          1.299          0              0              0              81
  38  Potato          0.634          0.946          -0.769         0              0              0              46
  39  PepperShaker    2.138          1.651          -0.725         0              180            0              67
  40  ButterKnife     2.221          0.911          1.044          0              0              0              81
  41  Bowl            2.653          1.017          -0.644         0              0              0              101
  42  DishSponge      1.842          1.655          1.390          0              0              0              58
  43  Spoon           1.862          0.772          1.198          0              0              0              79
  44  Mug             1.955          0.906          1.044          0              0              0              81
  45  Sink            0.050          0.902          -0.648         0              0              0
  46  CounterTop      1.358          0.947          -0.600         0              0              0
  47  Cabinet         2.986          2.009          1.304          0              0              0
  48  Cabinet         1.022          2.009          -0.607         0              180            0
  49  StoveBurner     0.678          0.923          1.082          0              0              0
  50  Cabinet         2.371          0.402          0.995          0              0              0
  51  Drawer          -0.125         0.792          0.995          0              0              0
  52  StoveBurner     0.281          0.923          1.082          0              0              0
  53  Cabinet         1.025          0.402          0.995          0              0              0
  54  Cabinet         1.023          0.402          -0.296         0              180            0
  55  Cabinet         0.974          2.259          1.304          0              0              0
  56  Cabinet         0.979          2.009          -0.607         0              180            0
  57  CounterTop      -0.158         0.947          1.299          0              0              0
  58  Cabinet         1.725          2.009          1.304          0              0              0
  59  Drawer          2.205          0.792          -0.294         0              180            0
  60  Drawer          1.869          0.792          -0.294         0              180            0
  61  StoveBurner     0.281          0.923          1.347          0              0              0
  62  Drawer          2.512          0.792          0.995          0              0              0
  63  Cabinet         1.673          0.402          -0.296         0              180            0
  64  Drawer          1.524          0.792          0.995          0              0              0
  65  Drawer          1.174          0.792          -0.294         0              180            0
  66  Cabinet         1.720          0.402          0.995          0              0              0
  67  Cabinet         2.348          2.009          -0.607         0              180            0
  68  Cabinet         1.676          2.009          -0.607         0              180            0
  69  Cabinet         1.673          2.009          1.304          0              0              0
  70  Cabinet         2.326          2.009          1.304          0              0              0
  71  Cabinet         2.370          2.009          1.304          0              0              0
  72  Cabinet         0.021          2.009          1.304          0              0              0
  73  Cabinet         1.025          2.009          1.304          0              0              0
  74  Cabinet         -0.274         0.402          0.995          0              0              0
  75  Cabinet         1.675          0.402          0.995          0              0              0
  76  Drawer          1.524          0.792          -0.294         0              180            0
  77  Drawer          2.187          0.792          0.995          0              0              0
  78  Cabinet         2.977          0.402          0.995          0              0              0
  79  Drawer          1.862          0.792          0.995          0              0              0
  80  Cabinet         0.072          2.259          1.304          0              0              0
  81  CounterTop      1.917          0.947          1.299          0              0              0
  82  Cabinet         2.328          0.402          0.995          0              0              0
  83  Cabinet         1.723          2.009          -0.607         0              180            0
  84  StoveBurner     0.677          0.923          1.345          0              0              0
  85  Cabinet         0.355          2.009          -0.607         0              180            0
  86  Cabinet         0.332          2.009          -0.607         0              180            0
  87  Cabinet         2.349          0.402          -0.296         0              180            0
  88  Cabinet         -0.284         2.009          -0.607         0              180            0
  89  Faucet          0.061          0.906          -0.903         0              0              0
  90  Drawer          2.837          0.792          0.995          0              0              0
  91  Drawer          1.175          0.792          0.995          0              0              0
  92  Cabinet         1.723          0.402          -0.296         0              180            0
  93  StoveKnob       0.588          1.093          1.557          287.970        0              0
  94  StoveKnob       0.188          1.093          1.557          287.970        0              0
  95  StoveKnob       0.749          1.093          1.557          287.970        0              0
  96  StoveKnob       0.338          1.093          1.557          287.970        0              0
  97  Toaster         1.934          0.900          -0.717         0              0              0
  98  LightSwitch     -1.662         1.427          1.649          0              180            0
  99  GarbageCan      -1.965         -0.029         1.358          0              270            0
 100  CoffeeMachine   1.542          0.900          -0.751         0              0              0
 101  Fridge          3.043          0.0            -0.709         0              0              0
 102  Window          -2.183         1.501          -0.014         90             270            0
 103  SinkBasin       0.043          0.755          -0.651         0              0              0
 104  Microwave       0.531          1.675          1.437          0              180            0
 105  DiningTable     -0.836         8.404          -1.258         0              0              0
 106  Chair           -1.611         0.002          -1.185         0              45             0
 107  NorthWall
 108  EastWall
 109  SouthWall
 110  WestWall

Plan:
STEP 1: Turn around, go forward, turn left to the counter | STEP 2: Pick up the knife on the counter | STEP 3: Turn left, go to the edge of the counter, turn right | STEP 4: Cut the apple on the counter | STEP 5: Turn right, go to the microwave | STEP 6: Put the knife in the microwave | STEP 7: Turn left, go to the edge of the counter, turn right | STEP 8: Pick up an apple piece from the counter | STEP 9: Turn around, go to the sink | STEP 10: Put the apple piece in the sink, wash the apple piece with water, pick up the apple piece from the sink | STEP 11: Turn around, go to the microwave | STEP 12: Put the apple piece in the microwave | END