Task: Cut an apple, cook a piece of it

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.25          0.869          -1.75          0              90             0
   1  Potato          1.055          0.916          -0.913         0              0              0              46
   2  Potato          -1.535         0.733          -3.782         0              0              0              73
   3  ButterKnife     0.803          0.883          0.029          0              0              0              46
   4  Spatula         0.149          0.915          1.272          0              0              0              72
   5  Spatula         0.671          0.774          -0.252         0              90             0              45
   6  Fork            0.769          0.760          -0.124         0              90             0              45
   7  Pot             -2.097         0.930          1.049          0              0              0              53
   8  Egg             0.785          1.196          -1.802         0              270            0              66
   9  Egg             0.601          0.701          0.630          0              0              0              51
  10  Cup             0.746          0.663          -1.958         0              270            0              66
  11  Cup             0.757          0.771          -0.790         0              270            0              69
  12  Knife           0.149          0.923          1.015          0              270            0              72
  13  Knife           -1.970         0.724          -0.983         0              0              0              82
  14  SoapBottle      -0.252         0.899          1.015          0              270            0              72
  15  SoapBottle      -1.578         0.695          -3.276         0              0              0              73
  16  Bowl            0.746          1.373          -2.035         0              270            0              66
  17  SaltShaker      -1.556         0.692          -3.698         0              0              0              73
  18  SaltShaker      0.803          0.879          -0.314         0              0              0              46
  19  Mug             0.698          0.941          -1.360         0              270            0              59
  20  Mug             -1.803         0.696          -1.091         0              0              0              82
  21  Apple           0.961          0.718          0.630          0              0              0              51
  22  Apple           0.961          0.718          0.448          0              0              0              51
  23  Apple           0.781          0.718          0.448          0              0              0              51
  24  Pot             -1.552         0.930          0.785          0              0              0              50
  25  Plate           0.732          0.019          -0.053         0              0              0              56
  26  Fork            -2.054         0.702          -1.416         0              0              0              82
  27  SoapBottle      1.024          0.882          -0.108         0              0              0              46
  28  Apple           0.824          0.519          -1.725         0              270            0              66
  29  Pan             0.740          -0.007         -0.596         0              0              0              49
  30  Egg             -1.370         0.088          -3.611         0              270            0              61
  31  Spatula         0.574          0.774          0.002          0              270            0              45
  32  Potato          -1.187         0.085          -3.574         0              270            0              61
  33  Cup             0.721          0.664          0.265          0              0              0              51
  34  SaltShaker      -0.252         0.896          1.272          0              270            0              72
  35  PepperShaker    0.812          1.460          -0.022         0              0              0              57
  36  ButterKnife     -1.886         0.701          -1.416         0              0              0              82
  37  DishSponge      0.841          0.772          -0.625         0              270            0              69
  38  Bread           -0.873         0.931          0.978          0              24.231         0              72
  39  Lettuce         -1.084         0.973          0.955          41.423         1.928          3.369          72
  40  Tomato          -1.056         0.949          1.187          0              270            0              72
  41  Spoon           0.721          0.665          0.508          0              0              0              51
  42  Knife           0.720          0.783          0.002          0              270            0              45
  43  Mug             0.858          1.458          0.288          0              0              0              58
  44  Bowl            -0.051         0.899          1.101          0              270            0              72
  45  Drawer          0.706          0.766          -0.125         0              0              0
  46  CounterTop      0.792          0.919          -0.108         0              0              0
  47  Mirror          1.093          1.602          -0.643         0              0              0
  48  StoveBurner     -2.096         0.890          0.785          0              0              0
  49  Cabinet         0.507          0.345          -0.426         0              0              0
  50  StoveBurner     -1.552         0.890          0.785          0              0              0
  51  SideTable       0.770          -0.030         0.443          0              0              0
  52  Sink            0.753          0.882          -0.680         0              0              0
  53  StoveBurner     -2.096         0.890          1.049          0              0              0
  54  GarbageBag      -0.770         0.287          -3.541         270            73.521         83.489
  55  StoveBurner     -1.554         0.890          1.049          0              0              0
  56  Cabinet         0.507          0.345          0.156          0              0              0
  57  Cabinet         0.717          1.822          -0.398         0              0              0
  58  Cabinet         0.717          1.822          0.669          0              0              0
  59  CoffeeMachine   0.873          0.865          -1.256         0              270            0
  60  Toaster         -0.522         0.886          1.081          0              180            0
  61  GarbageCan      -1.261         -0.031         -3.610         0              270            0
  62  StoveKnob       -1.898         0.866          0.519          311.864        0              180
  63  StoveKnob       -1.754         0.866          0.519          311.864        0              180
  64  StoveKnob       -2.058         0.866          0.519          311.864        0              180
  65  StoveKnob       -1.600         0.866          0.519          311.864        0              180
  66  Fridge          0.680          -0.031         -1.957         0              0              0
  67  Window          -2.424         1.639          -2.453         90             270            0
  68  Microwave       -1.994         0.690          -3.651         0              0              0
  69  SinkBasin       0.757          0.762          -0.688         0              270            0
  70  LightSwitch     1.102          1.368          -3.737         0              270            0
  71  Shelf           -0.350         0.124          0.857          0              0              0
  72  DiningTable     -0.350         -0.025         0.857          0              0              0
  73  DiningTable     -1.909         -0.032         -3.507         0              0              0
  74  Blinds          -2.343         2.151          -2.437         0              270            0
  75  AluminumFoil    0.762          0.224          0.337          0              184.594        0
  76  AluminumFoil    0.751          0.225          0.287          0              0              0
  77  AluminumFoil    0.839          0.224          0.392          0              195.128        0
  78  Shelf           0.771          0.226          0.445          0              0              0
  79  Shelf           0.771          0.456          0.446          0              0              0
  80  Faucet          1.025          0.873          -0.678         270            180            0
  81  Shelf           -0.350         0.497          0.857          0              0              0
  82  DiningTable     -1.929         -0.035         -1.398         0              90             0
  83  Chair           -1.610         -0.024         -1.424         358.454        297.426        0
  84  NorthWall
  85  EastWall
  86  SouthWall
  87  WestWall

Plan:
STEP 1: Turn around, go to the table | STEP 2: Pick up the knife on the table | STEP 3: Turn right, go forward, turn right and go to the shelf unit | STEP 4: Cut the apple on the shelf unit | STEP 5: Turn around, go forward a bit, turn right | STEP 6: Put the knife on the table | STEP 7: Turn right, go forward | STEP 8: Pick up a piece of apple | STEP 9: Turn around, go forward, turn left, go forward, turn right, go forward, turn left in front of the microwave | STEP 10: Put the apple piece in the microwave, start the microwave, wait, pick up the apple piece from the microwave | STEP 11: Turn down to the table under the microwave | STEP 12: Put the apple piece on the table | END