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           -1.0           0.900          0.5            0              90             0
   1  Potato          1.501          0.950          0.915          0              90             0              38
   2  Potato          -0.692         0.786          -1.629         0              0              0              65
   3  Ladle           1.726          0.955          -1.717         0              90             0              42
   4  ButterKnife     1.245          0.910          1.004          0              90             0              38
   5  DishSponge      1.796          0.910          -1.288         0              90             0              42
   6  DishSponge      1.355          0.910          -1.247         0              90             0              42
   7  Spoon           0.894          0.761          -1.654         0              90             0              57
   8  Spatula         0.989          0.925          0.827          0              90             0              38
   9  Knife           1.865          0.943          -1.374         0              0              0              42
  10  Knife           1.757          0.943          1.004          0              90             0              38
  11  SoapBottle      1.875          1.643          -1.806         0              0              0              52
  12  SoapBottle      1.800          0.068          1.684          0              270            0              56
  13  PepperShaker    1.805          1.648          -0.545         0              0              0              49
  14  PepperShaker    1.733          2.132          0.918          0              0              0              46
  15  Apple           1.762          0.967          0.570          0              90             0              38
  16  Plate           1.805          1.634          -0.755         0              0              0              50
  17  SoapBottle      1.734          1.643          -1.806         0              0              0              52
  18  Cup             1.840          1.631          -0.973         0              0              0              50
  19  Egg             -0.595         1.424          -1.629         0              0              0              65
  20  Fork            0.220          0.911          1.004          0              90             0              38
  21  Ladle           1.201          0.926          0.743          3.399          0              346.985        38
  22  Apple           1.739          0.127          1.779          0              270            0              56
  23  SaltShaker      1.656          0.906          -1.288         0              90             0              42
  24  Pan             1.543          0.909          -0.320         0              90             0              41
  25  Tomato          -0.692         1.746          -1.524         0              0              0              65
  26  Spatula         1.032          0.775          -1.710         0              90             0              57
  27  Potato          1.501          0.950          0.739          0              90             0              38
  28  Knife           1.586          0.943          -1.460         0              180            0              42
  29  ButterKnife     1.607          0.910          0.415          0              90             0              38
  30  Bread           1.757          0.987          1.180          0              90             0              38
  31  Lettuce         0.856          0.989          1.120          0              270            1.590          38
  32  PepperShaker    1.757          0.905          0.739          0              90             0              38
  33  Pot             1.548          0.909          0.075          0              180            0              44
  34  DishSponge      1.800          0.069          1.540          0              270            0              56
  35  Spoon           1.757          0.911          0.827          0              90             0              38
  36  Bowl            -0.692         0.459          -1.476         0              0              0              65
  37  Mug             1.451          0.905          0.311          0              90             0              38
  38  CounterTop      0.989          0.946          1.016          0              90             0
  39  StoveBurner     1.807          0.907          0.075          0              180            0
  40  StoveBurner     1.807          0.907          -0.320         0              180            0
  41  StoveBurner     1.543          0.907          -0.320         0              90             0
  42  CounterTop      0.989          0.946          -1.516         0              90             0
  43  Sink            1.100          0.906          -1.599         0              0              0
  44  StoveBurner     1.548          0.907          0.075          0              180            0
  45  Cabinet         1.658          2.299          1.313          0              0              0
  46  Cabinet         1.658          2.299          0.686          0              0              0
  47  Cabinet         1.658          2.049          0.673          0              0              0
  48  Cabinet         1.658          2.059          0.193          0              0              0
  49  Cabinet         1.658          2.059          -0.593         0              0              0
  50  Cabinet         1.658          2.049          -0.606         0              0              0
  51  Cabinet         1.658          2.049          -1.206         0              0              0
  52  Cabinet         1.658          2.049          -1.893         0              0              0
  53  Toaster         0.131          0.900          -1.589         0              0              0
  54  Window          -0.372         1.588          3.349          90             0              0
  55  Window          0.782          1.741          -1.893         90             0              0
  56  GarbageCan      1.770          -0.029         1.685          0              270            0
  57  SinkBasin       1.091          0.740          -1.599         0              0              0
  58  StoveKnob       1.364          0.821          0.086          48.421         270            0
  59  StoveKnob       1.364          0.821          -0.180         48.421         270            0
  60  StoveKnob       1.364          0.821          -0.317         48.421         270            0
  61  StoveKnob       1.364          0.821          -0.054         48.421         270            0
  62  Microwave       1.752          0.900          -0.843         0              270            0
  63  LightSwitch     2.0            1.261          3.094          0              270            0
  64  CoffeeMachine   0.501          0.900          -1.600         0              0              0
  65  Fridge          -0.533         0.0            -1.554         0              0              0
  66  Chair           1.068          0.000          1.752          0              191.622        0
  67  Faucet          1.110          1.138          -1.764         0              270            0
  68  Chair           0.357          0.000          1.710          0              178.899        0
  69  NorthWall
  70  EastWall
  71  SouthWall
  72  WestWall

Plan:
STEP 1: Go to the counter to the left of the stove | STEP 2: Pick up the apple on the counter | STEP 3: Turn right and go to the sink | STEP 4: Put the apple in the sink | STEP 5: Pick up the knife on the counter | STEP 6: Cut the apple in the sink | STEP 7: Put the knife in the sink | STEP 8: Pick up an apple piece from the sink | STEP 9: Turn left to 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 right to the sink | STEP 12: Put the apple in the sink | END