Task: Cut and wash an apple, 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           1.75           0.900          0.5            0              180            0
   1  Pan             1.141          0.911          -0.430         0              0              0              42
   2  Potato          2.591          1.598          -0.644         0              90             0              97
   3  Potato          0.123          0.800          -0.707         0              0              0              99
   4  DishSponge      -0.682         0.820          -1.328         0              0              0              101
   5  DishSponge      1.135          0.114          -0.458         0              180            0              50
   6  Pot             0.281          0.964          1.347          0              0              0              57
   7  Pot             1.155          0.915          1.299          0              0              0              77
   8  Spoon           2.837          0.773          1.122          0              0              0              86
   9  Spatula         -0.157         0.780          -0.707         0              90             0              99
  10  Plate           0.231          2.159          1.467          0              0              0              76
  11  Cup             2.900          1.286          -0.775         0              0              0              97
  12  SoapBottle      1.141          1.661          1.390          0              0              0              69
  13  SoapBottle      -1.962         0.429          1.375          0              270            0              95
  14  Tomato          2.838          0.756          -0.442         0              0              0              97
  15  SaltShaker      1.065          0.111          1.037          0              0              0              49
  16  Bread           2.754          0.969          1.129          0              0              0              77
  17  Lettuce         2.221          0.992          1.299          0              0              0              77
  18  Lettuce         -0.198         0.992          1.214          0              0              0              53
  19  SoapBottle      -0.939         0.826          -1.328         0              0              0              101
  20  Plate           2.211          0.902          -0.462         0              0              0              42
  21  Fork            1.688          0.912          1.129          0              0              0              77
  22  Pot             0.281          0.964          1.082          0              0              0              48
  23  Bread           2.488          0.969          1.214          0              0              0              77
  24  Egg             0.570          1.822          1.391          0              180            0              100
  25  Kettle          0.710          0.9            -0.772         0              0              0              42
  26  Tomato          -0.151         0.942          1.383          0              0              0              53
  27  Cup             -0.785         0.818          -1.255         0              0              0              101
  28  Spatula         0.263          0.780          -0.707         0              90             0              99
  29  Apple           -0.198         0.980          1.553          0              0              0              53
  30  Pan             2.838          1.018          -0.709         0              0              0              97
  31  Lettuce         1.955          0.992          1.129          0              0              0              77
  32  SaltShaker      1.955          0.908          1.468          0              0              0              77
  33  Knife           0.888          0.944          -0.6           0              0              0              42
  34  Potato          2.962          1.323          -0.447         0              0              0              97
  35  PepperShaker    -0.682         0.817          -1.183         0              0              0              101
  36  ButterKnife     1.155          0.911          1.044          0              0              0              77
  37  Bowl            2.156          0.909          -0.769         0              0              0              42
  38  DishSponge      -0.198         0.911          1.044          0              0              0              53
  39  Spoon           1.155          0.912          1.129          0              0              0              77
  40  Mug             2.804          1.649          1.394          0              0              0              43
  41  Sink            0.050          0.902          -0.648         0              0              0
  42  CounterTop      1.358          0.947          -0.600         0              0              0
  43  Cabinet         2.986          2.009          1.304          0              0              0
  44  Cabinet         1.022          2.009          -0.607         0              180            0
  45  StoveBurner     0.678          0.923          1.082          0              0              0
  46  Cabinet         2.371          0.402          0.995          0              0              0
  47  Drawer          -0.125         0.792          0.995          0              0              0
  48  StoveBurner     0.281          0.923          1.082          0              0              0
  49  Cabinet         1.025          0.402          0.995          0              0              0
  50  Cabinet         1.023          0.402          -0.296         0              180            0
  51  Cabinet         0.974          2.259          1.304          0              0              0
  52  Cabinet         0.979          2.009          -0.607         0              180            0
  53  CounterTop      -0.158         0.947          1.299          0              0              0
  54  Cabinet         1.725          2.009          1.304          0              0              0
  55  Drawer          2.205          0.792          -0.294         0              180            0
  56  Drawer          1.869          0.792          -0.294         0              180            0
  57  StoveBurner     0.281          0.923          1.347          0              0              0
  58  Drawer          2.512          0.792          0.995          0              0              0
  59  Cabinet         1.673          0.402          -0.296         0              180            0
  60  Drawer          1.524          0.792          0.995          0              0              0
  61  Drawer          1.174          0.792          -0.294         0              180            0
  62  Cabinet         1.720          0.402          0.995          0              0              0
  63  Cabinet         2.348          2.009          -0.607         0              180            0
  64  Cabinet         1.676          2.009          -0.607         0              180            0
  65  Cabinet         1.673          2.009          1.304          0              0              0
  66  Cabinet         2.326          2.009          1.304          0              0              0
  67  Cabinet         2.370          2.009          1.304          0              0              0
  68  Cabinet         0.021          2.009          1.304          0              0              0
  69  Cabinet         1.025          2.009          1.304          0              0              0
  70  Cabinet         -0.274         0.402          0.995          0              0              0
  71  Cabinet         1.675          0.402          0.995          0              0              0
  72  Drawer          1.524          0.792          -0.294         0              180            0
  73  Drawer          2.187          0.792          0.995          0              0              0
  74  Cabinet         2.977          0.402          0.995          0              0              0
  75  Drawer          1.862          0.792          0.995          0              0              0
  76  Cabinet         0.072          2.259          1.304          0              0              0
  77  CounterTop      1.917          0.947          1.299          0              0              0
  78  Cabinet         2.328          0.402          0.995          0              0              0
  79  Cabinet         1.723          2.009          -0.607         0              180            0
  80  StoveBurner     0.677          0.923          1.345          0              0              0
  81  Cabinet         0.355          2.009          -0.607         0              180            0
  82  Cabinet         0.332          2.009          -0.607         0              180            0
  83  Cabinet         2.349          0.402          -0.296         0              180            0
  84  Cabinet         -0.284         2.009          -0.607         0              180            0
  85  Faucet          0.061          0.906          -0.903         0              0              0
  86  Drawer          2.837          0.792          0.995          0              0              0
  87  Drawer          1.175          0.792          0.995          0              0              0
  88  Cabinet         1.723          0.402          -0.296         0              180            0
  89  StoveKnob       0.588          1.093          1.557          287.970        0              0
  90  StoveKnob       0.188          1.093          1.557          287.970        0              0
  91  StoveKnob       0.749          1.093          1.557          287.970        0              0
  92  StoveKnob       0.338          1.093          1.557          287.970        0              0
  93  Toaster         1.934          0.900          -0.717         0              0              0
  94  LightSwitch     -1.662         1.427          1.649          0              180            0
  95  GarbageCan      -1.965         -0.029         1.358          0              270            0
  96  CoffeeMachine   1.542          0.900          -0.751         0              0              0
  97  Fridge          3.043          0.0            -0.709         0              0              0
  98  Window          -2.183         1.501          -0.014         90             270            0
  99  SinkBasin       0.043          0.755          -0.651         0              0              0
 100  Microwave       0.531          1.675          1.437          0              180            0
 101  DiningTable     -0.836         8.404          -1.258         0              0              0
 102  Chair           -1.611         0.002          -1.185         0              45             0
 103  NorthWall
 104  EastWall
 105  SouthWall
 106  WestWall

Plan:
STEP 1: Move a bit to the right and go to the counter | STEP 2: Pick up the knife on the counter | STEP 3: Turn left, go forward, turn right at the end of the counter | STEP 4: Cut the apple on the counter | STEP 5: Turn around and go to the sink | STEP 6: Put the knife in the sink | STEP 7: Turn around and go to the counter | STEP 8: Pick up an apple piece from the counter | STEP 9: Turn around and 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 left, go forward, turn left at the microwave | STEP 12: Put the apple piece in the microwave | END