Task: Cutting apple slices, warming it up

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.5            0.901          0.0            0              90             0
   1  Potato          2.127          1.559          -0.550         0              270            0              74
   2  Potato          0.033          0.831          1.386          0              0              0              80
   3  WineBottle      1.440          0.082          2.562          0              0              0              59
   4  DishSponge      1.844          0.937          2.063          0              0              0              53
   5  Spatula         -0.053         0.952          2.688          0              90             0              53
   6  Egg             2.169          0.380          -0.550         0              270            0              Floor|+02.38|
   7  Egg             1.118          0.837          2.529          0              0              0              77
   8  Knife           1.906          0.772          0.446          0              90             0              62
   9  Tomato          2.023          0.384          -0.550         0              270            0              74
  10  Tomato          -0.196         0.837          1.049          0              0              0              80
  11  Bowl            -0.272         0.787          1.217          0              0              0              80
  12  SaltShaker      -0.282         0.932          2.618          0              0              0              53
  13  SaltShaker      2.244          1.496          1.916          0              0              0              56
  14  PepperShaker    0.033          0.785          1.217          0              0              0              80
  15  PepperShaker    1.840          0.933          0.583          0              0              0              64
  16  Lettuce         2.112          1.383          -0.460         0              270            0              74
  17  Mug             2.064          0.989          2.462          0              225            0              79
  18  Mug             -0.195         0.932          2.504          0              270            0              53
  19  Apple           2.056          1.373          -0.279         0              270            0              74
  20  Apple           2.283          1.569          -0.097         0              270            0              74
  21  Apple           -0.425         0.840          0.713          0              0              0              80
  22  Egg             1.972          1.561          -0.188         0              270            0              74
  23  Lettuce         -0.042         0.852          0.545          0              0              0              80
  24  Fork            -0.272         0.791          1.386          0              90             0              80
  25  SoapBottle      2.244          1.502          2.381          0              0              0              46
  26  Ladle           1.884          0.790          2.197          0              270            0              68
  27  Ladle           0.174          0.982          2.548          0              0              0              53
  28  Bread           -0.199         0.823          0.813          0              0              0              80
  29  SaltShaker      2.002          0.077          2.270          0              0              0              49
  30  Potato          1.276          0.835          2.750          0              180            0              77
  31  Pan             1.928          0.070          0.640          0              0              0              50
  32  WineBottle      -0.425         0.791          0.377          0              0              0              80
  33  Spatula         -0.119         0.805          0.377          0              0              0              80
  34  Knife           -0.042         0.816          1.049          0              90             0              80
  35  Tomato          2.023          0.384          -0.188         0              270            0              74
  36  Apple           -0.358         0.087          -0.769         0              90             0              75
  37  ButterKnife     2.150          0.937          2.063          0              0              0              53
  38  Pot             1.866          0.935          1.504          0              180            0              57
  39  PepperShaker    0.060          0.932          2.478          0              0              0              53
  40  Cup             -0.362         1.034          1.961          0              90             0              78
  41  DishSponge      1.855          1.502          2.767          0              0              0              54
  42  Plate           0.637          0.085          2.523          0              0              0              60
  43  Spoon           -0.042         0.792          1.386          0              0              0              80
  44  Mug             -0.261         1.030          1.907          0              90             0              78
  45  Bowl            2.112          1.318          -0.097         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: Turn to the right | STEP 2: Walk straight to get to the counter | STEP 3: Grab the apple from the table | STEP 4: Put the apple back on the table | STEP 5: Turn to the right  | STEP 6: Turn to the left a little | STEP 7: Walk back to the table | STEP 8: Pick the knife up from the table  | STEP 9: Carry the knife to the apple | STEP 10: Cut the apple in to slices using the knife | STEP 11: Put the knife back on the table | STEP 12: Pick an apple slice up from the table | STEP 13: Carry the apple to the microwave, put the apple in the microwave and turn it on | STEP 14: Take the apple from the microwave  and carry it to the table | END