Task: Cut an apple, cook a piece and cool it

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           1.0            0.901          0.5            0              0              0
   1  Potato          1.118          0.842          2.695          0              0              0              77
   2  DishSponge      0.033          0.790          0.377          0              0              0              80
   3  ButterKnife     -0.349         0.791          0.545          0              0              0              80
   4  Spatula         -0.068         0.761          1.993          0              90             0              52
   5  Fork            -0.138         0.746          1.925          0              90             0              52
   6  Fork            1.223          0.795          2.584          0              90             0              77
   7  Egg             -0.272         0.833          1.386          0              0              0              80
   8  Egg             2.250          0.644          -0.550         0              270            0              74
   9  Cup             2.158          0.859          -0.369         0              270            0              74
  10  Cup             -0.167         0.935          2.757          0              0              0              53
  11  Plate           1.925          0.086          1.986          0              0              0              49
  12  Plate           -0.042         0.795          1.386          0              0              0              80
  13  Knife           2.304          0.963          2.063          0              90             0              53
  14  Knife           -0.119         0.816          0.377          0              90             0              80
  15  Bowl            -0.362         1.032          2.014          0              90             0              78
  16  PepperShaker    -0.425         0.785          0.713          0              0              0              80
  17  Lettuce         0.033          0.852          1.049          0              180            0              80
  18  Lettuce         -0.349         0.852          1.217          0              0              0              80
  19  Mug             2.281          1.943          1.002          0              0              0              63
  20  Apple           2.000          1.371          -0.188         0              270            0              74
  21  Apple           1.790          0.987          2.898          0              0              0              53
  22  Egg             2.059          0.380          -0.007         0              270            0              Floor|+02.38|
  23  Lettuce         0.033          0.852          0.881          0              0              0              80
  24  Fork            1.639          0.928          2.598          0              0              0              53
  25  SoapBottle      2.088          1.504          0.388          0              90             0              51
  26  Ladle           2.205          1.993          1.563          0              0              0              58
  27  Ladle           -0.096         0.942          2.546          6.888          45             340.409        53
  28  Bread           -0.199         0.823          0.813          0              0              0              80
  29  SaltShaker      1.905          1.498          2.767          0              0              0              54
  30  Potato          1.840          0.978          0.509          0              0              0              64
  31  Pan             2.140          0.935          1.106          0              0              0              55
  32  WineBottle      2.206          1.502          2.469          0              0              0              46
  33  Spatula         -0.119         0.805          0.377          0              0              0              80
  34  Knife           2.011          0.771          0.721          0              270            0              62
  35  Tomato          0.588          0.833          2.635          0              0              0              77
  36  Apple           2.227          0.987          2.359          0              0              0              53
  37  ButterKnife     1.660          0.926          2.473          0              352.515        0              53
  38  Pot             1.854          0.937          1.497          0              0              0              57
  39  PepperShaker    -0.042         0.785          0.713          0              0              0              80
  40  Cup             -0.196         0.789          0.545          0              0              0              80
  41  DishSponge      1.227          0.080          2.601          0              0              0              59
  42  Plate           2.206          1.505          2.010          0              0              0              56
  43  Spoon           -0.349         0.792          0.377          0              0              0              80
  44  Mug             2.064          0.989          2.462          0              225            0              79
  45  Bowl            2.056          1.320          -0.007         0              270            0              74
  46  Cabinet         2.041          2.113          2.618          0              0              0
  47  Cabinet         0.126          0.388          1.774          0              0              0
  48  StoveBurner     2.140          0.929          1.504          0              180            0
  49  Cabinet         1.760          0.388          2.346          0              0              0
  50  Cabinet         1.760          0.388          0.869          0              0              0
  51  Cabinet         2.041          1.810          0.283          0              0              0
  52  Drawer          -0.024         0.774          2.061          0              0              0
  53  CounterTop      1.065          0.973          2.666          0              0              0
  54  Cabinet         1.969          2.113          2.618          0              0              0
  55  StoveBurner     2.140          0.929          1.106          0              0              0
  56  Cabinet         2.041          2.113          1.809          0              0              0
  57  StoveBurner     1.866          0.929          1.504          0              180            0
  58  Cabinet         2.041          2.113          1.766          0              0              0
  59  Cabinet         1.514          0.388          2.360          0              0              0
  60  Cabinet         0.351          0.388          2.360          0              0              0
  61  Cabinet         2.041          1.810          0.872          0              0              0
  62  Drawer          2.167          0.774          0.582          0              0              0
  63  Cabinet         2.041          2.113          0.892          0              0              0
  64  CounterTop      2.060          0.973          0.583          0              0              0
  65  Sink            0.935          0.936          2.646          0              0              0
  66  Curtains        0.964          2.061          2.989          0              0              0
  67  StoveBurner     1.863          0.929          1.106          0              0              0
  68  Drawer          1.911          0.774          2.060          0              0              0
  69  StoveKnob       2.326          1.092          1.610          288.013        90             0
  70  StoveKnob       2.326          1.092          1.460          288.013        90             0
  71  StoveKnob       2.326          1.092          1.210          288.013        90             0
  72  StoveKnob       2.326          1.092          1.050          288.013        90             0
  73  Toaster         2.126          0.926          0.572          0              270            0
  74  Fridge          2.104          0.0            -0.279         0              270            0
  75  GarbageCan      -0.309         -0.001         -0.807         0              91.471         0
  76  LightSwitch     0.354          1.518          -1.031         0              0              0
  77  SinkBasin       0.903          0.784          2.640          0              0              0
  78  Microwave       -0.310         0.926          2.077          0              90             0
  79  CoffeeMachine   2.084          0.927          2.667          0              225            0
  80  DiningTable     -0.153         -0.000         1.073          0              270            0
  81  Faucet          1.175          0.926          2.950          270            90             0
  82  Faucet          0.686          0.926          2.950          270            90             0
  83  Chair           -0.077         0.002          0.196          0              15.000         0
  84  NorthWall
  85  EastWall
  86  SouthWall
  87  WestWall

Plan:
STEP 1: Go to the sink , turn right, go to the counter | STEP 2: Pick up the knife on the counter | STEP 3: Cut the apple on the counter | STEP 4: Turn right and go to the fridge | STEP 5: Put the knife in the fridge | STEP 6: Turn left, go forward, turn right to the counter | STEP 7: Pick up an apple piece from the counter | STEP 8: Turn around and go to the microwave | STEP 9: Put the apple piece in the microwave, start the microwave, wait, pick up the apple piece from the microwave | STEP 10: Turn left, go forward, turn right at the fridge | STEP 11: Put the apple piece in the fridge | END