Task: Wash the fruit from the microwave, put it back

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.5           0.900          2.0            0              180            0
   1  Potato          0.950          0.866          2.198          0              0              0              58
   2  DishSponge      -1.415         0.697          3.857          0              0              0              88
   3  DishSponge      0.703          0.690          0.944          0              0              0              64
   4  ButterKnife     -1.698         0.823          3.567          0              0              0              76
   5  ButterKnife     1.024          0.823          2.285          0              0              0              58
   6  Spatula         -0.524         0.915          1.143          0              270            0              94
   7  Fork            0.703          0.692          2.235          0              270            0              47
   8  Fork            0.650          0.823          2.285          0              90             0              58
   9  Egg             -1.053         0.936          1.349          0              90             0              94
  10  Plate           -1.255         1.687          3.897          0              0              0              81
  11  Cup             -2.448         0.718          1.891          0              90             0              85
  12  Knife           -0.789         0.923          1.246          0              180            0              94
  13  Knife           -1.457         0.846          3.524          0              0              0              76
  14  SoapBottle      -1.185         0.900          1.452          0              90             0              94
  15  SoapBottle      -0.524         0.900          1.555          0              90             0              94
  16  Bowl            -2.636         1.189          2.389          0              90             0              85
  17  Bowl            -2.678         1.605          2.333          0              90             0              85
  18  PepperShaker    -1.243         0.124          3.636          0              0              0              73
  19  SaltShaker      1.099          0.819          0.850          0              0              0              53
  20  SaltShaker      -1.293         0.124          3.751          0              0              0              73
  21  Mug             -1.109         0.940          1.203          0              0              0              94
  22  Apple           -1.486         1.420          3.934          0              180            0              82
  23  Apple           0.650          0.884          0.984          0              0              0              53
  24  Apple           -2.743         1.469          2.333          0              90             0              85
  25  Plate           -1.817         0.131          3.675          0              0              0              75
  26  Fork            0.950          0.823          1.028          0              0              0              53
  27  Bread           0.826          0.861          2.449          0              0              0              53
  28  Spatula         0.925          0.837          2.461          357.917        180            0              58
  29  PaperTowelRoll  0.650          0.927          0.895          0              0              0              53
  30  Potato          -2.577         1.038          2.221          0              90             0              85
  31  SoapBottle      -1.317         0.900          1.246          0              90             0              94
  32  Egg             -0.789         0.936          1.555          0              90             0              94
  33  Cup             -2.621         0.822          4.022          0              0              0              76
  34  Pot             0.913          0.850          1.375          0              0              0              52
  35  SaltShaker      -2.744         0.819          3.947          0              0              0              76
  36  Pan             -2.667         0.812          3.74           0              137.145        0              76
  37  PepperShaker    -1.185         0.896          1.349          0              90             0              94
  38  ButterKnife     -2.779         0.823          3.405          0              0              0              76
  39  Tomato          0.800          0.891          0.939          0              0              0              53
  40  DishSponge      -2.563         0.822          3.405          0              0              0              76
  41  Lettuce         -0.580         0.956          1.358          31.822         0              0              94
  42  Spoon           -0.657         0.901          1.040          0              90             0              94
  43  Apple           0.960          0.085          2.918          0              0              0              87
  44  Knife           -0.657         0.923          1.143          0              180            0              94
  45  Mug             1.099          0.818          2.285          0              0              0              58
  46  Bowl            -1.694         1.357          3.901          0              180            0              82
  47  Drawer          0.729          0.703          2.199          0              0              0
  48  Cabinet         -1.962         1.926          3.733          0              0              0
  49  Cabinet         -2.377         2.014          1.058          0              0              0
  50  Drawer          0.729          0.703          2.532          0              0              0
  51  Cabinet         -2.622         1.925          3.733          0              0              0
  52  StoveBurner     0.913          0.843          1.375          0              0              0
  53  CounterTop      0.864          0.858          0.984          0              0              0
  54  Cabinet         -1.976         1.779          3.734          0              0              0
  55  Cabinet         0.580          0.385          0.819          0              0              0
  56  Cabinet         -2.379         1.408          1.677          0              0              0
  57  Cabinet         -0.419         1.703          3.736          0              0              0
  58  CounterTop      0.864          0.858          2.371          0              0              0
  59  Sink            -1.702         0.726          3.828          0              180            0
  60  Cabinet         0.580          0.385          2.694          0              0              0
  61  Cabinet         -2.379         0.637          1.677          0              0              0
  62  Cabinet         -0.419         0.674          3.736          0              0              0
  63  Cabinet         -2.377         2.014          2.558          0              0              0
  64  Drawer          0.729          0.703          0.980          0              0              0
  65  Drawer          -2.114         0.706          3.657          0              0              0
  66  Cabinet         -2.377         1.691          2.572          0              0              0
  67  Cabinet         -2.951         1.925          3.733          0              0              0
  68  Cabinet         0.580          0.385          2.360          0              0              0
  69  Cabinet         -2.426         0.435          3.421          0              0              0
  70  StoveBurner     0.642          0.843          1.375          0              0              0
  71  Cabinet         -2.377         1.927          1.686          0              0              0
  72  Cabinet         -2.377         2.013          3.177          0              0              0
  73  Cabinet         -1.136         0.385          3.516          0              0              0
  74  StoveBurner     0.913          0.843          1.768          0              0              0
  75  Cabinet         -1.974         0.385          3.516          0              0              0
  76  CounterTop      -2.081         0.858          3.799          0              0              0
  77  Cabinet         -2.426         0.435          3.174          0              0              0
  78  Cabinet         -2.377         2.014          1.693          0              0              0
  79  Cabinet         -1.986         0.385          3.511          0              0              0
  80  StoveBurner     0.642          0.843          1.768          0              0              0
  81  Cabinet         -1.098         1.926          3.729          0              0              0
  82  Microwave       -1.529         1.250          3.881          1.622          180            0
  83  CoffeeMachine   1.000          0.812          2.492          0              270            0
  84  LightSwitch     0.825          1.396          4.082          0              180            0
  85  Fridge          -2.642         0.0            2.134          0              180            0
  86  Window          -1.131         1.673          0.808          90             0              0
  87  GarbageCan      0.931          -0.000         2.918          0              0              0
  88  SinkBasin       -1.601         0.686          3.774          0              0              0
  89  StoveKnob       1.104          1.002          1.886          0              0              70.346
  90  StoveKnob       1.104          1.002          1.733          0              0              70.346
  91  StoveKnob       1.104          1.002          1.321          0              0              70.346
  92  StoveKnob       1.104          1.002          1.481          0              0              70.346
  93  Toaster         -2.247         0.812          3.862          0              180            0
  94  DiningTable     -0.917         -0.000         1.203          0              0              0
  95  Stool           -0.932         0.000          1.404          1.196          21.715         0
  96  Faucet          -1.842         0.809          3.984          0              180            0
  97  Faucet          -1.371         0.809          3.985          0              180            0
  98  NorthWall
  99  EastWall
 100  SouthWall
 101  WestWall

Plan:
STEP 1: Turn around, walk to the microwave | STEP 2: Open the microwave, take the fruit out of the microwave, close the microwave | STEP 3: Walk to the left a little | STEP 4: Put the fruit in the sink on the right, open the faucet, wash the fruit, close the faucet, take the fruit out | STEP 5: Walk to the right a little | STEP 6: Open the microwave, put the fruit back in it, close the microwave  | END