Task: Cut an apple and cook a piece of apple

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           1.25           0.900          0.25           0              180            0
   1  Potato          2.009          0.942          -1.446         0              0              0              72
   2  Potato          -1.380         1.212          -1.013         0              90             0              80
   3  Ladle           0.408          0.971          0.534          0              0              0              89
   4  DishSponge      -0.697         0.111          -1.917         0              0              0              65
   5  DishSponge      -1.116         0.126          -1.426         0              90             0              67
   6  ButterKnife     0.921          0.913          -2.085         0              0              0              72
   7  WineBottle      -0.668         0.914          -2.233         0              0              0              72
   8  Pot             1.647          0.911          -1.446         0              0              0              72
   9  Spoon           1.850          0.914          -1.918         0              0              0              72
  10  Fork            0.180          0.931          0.762          0              0              0              89
  11  Fork            -0.720         0.914          -2.134         0              0              0              72
  12  Egg             0.921          0.967          -1.751         0              0              0              72
  13  Plate           0.180          0.934          1.448          0              0              0              89
  14  Plate           -1.438         1.187          -0.806         0              90             0              80
  15  Knife           0.180          0.953          0.991          0              0              0              89
  16  Knife           0.689          0.936          -2.002         0              0              0              72
  17  Tomato          1.829          0.138          0.083          0              0              0              73
  18  Tomato          -0.927         0.965          -2.115         0              0              0              72
  19  SoapBottle      -1.254         2.146          -0.910         0              90             0              56
  20  SoapBottle      -0.160         0.929          0.534          0              0              0              89
  21  Bowl            -1.533         1.501          -0.495         0              90             0              80
  22  Lettuce         -1.572         1.585          -0.806         0              90             0              80
  23  SaltShaker      -0.160         0.923          0.076          0              0              0              89
  24  SaltShaker      1.669          0.877          2.510          0              0              0              93
  25  PepperShaker    0.294          0.923          0.534          0              0              0              89
  26  PepperShaker    1.259          0.877          2.537          0              0              0              93
  27  Mug             -0.381         2.146          -2.147         0              90             0              57
  28  Apple           0.294          0.997          0.991          0              0              0              89
  29  Apple           -0.356         0.835          -1.981         0              0              0              84
  30  Apple           -0.047         1.001          0.534          0              0              0              89
  31  Potato          0.063          0.95           -0.048         0              285.000        0              89
  32  Bowl            0.066          0.923          0.305          0              0              0              89
  33  SoapBottle      -0.047         0.929          0.991          0              0              0              89
  34  Fork            -0.210         0.765          -2.026         0              0              0              84
  35  Ladle           1.631          0.164          -1.397         0              270            0              66
  36  Bread           0.399          0.964          0.110          0              0              1.601          89
  37  Lettuce         -1.438         1.264          -0.599         0              90             0              80
  38  WineBottle      0.180          0.927          0.076          0              0              0              89
  39  Spatula         1.153          0.928          -1.918         0              0              0              72
  40  Plate           -0.047         0.930          0.762          0              0              0              89
  41  SaltShaker      1.143          0.115          -2.076         0              0              0              64
  42  Pot             1.567          0.948          -0.757         0              0              0              54
  43  Cup             2.009          0.913          -1.212         0              0              0              72
  44  PepperShaker    -0.824         0.909          -2.167         0              0              0              72
  45  Pan             1.824          0.945          -0.346         0              0              0              53
  46  ButterKnife     -0.047         0.930          1.448          0              0              0              89
  47  Tomato          0.294          0.978          1.220          0              0              0              89
  48  DishSponge      -1.284         2.147          -1.129         0              90             0              56
  49  Egg             -1.667         1.237          -0.392         0              90             0              80
  50  Spoon           0.180          0.928          0.534          0              0              0              89
  51  Knife           1.647          0.936          -1.212         0              0              0              72
  52  Mug             -1.000         0.908          -2.260         0              0              0              72
  53  StoveBurner     1.845          0.940          -0.355         0              0              0
  54  StoveBurner     1.567          0.940          -0.757         0              0              0
  55  Cabinet         -1.149         2.019          -1.979         0              90             0
  56  Cabinet         -1.149         2.265          -0.834         0              90             0
  57  Cabinet         -0.459         2.265          -2.0           0              0              0
  58  Cabinet         -1.100         2.019          -2.0           0              0              0
  59  Cabinet         1.719          2.019          -2.0           0              0              0
  60  Cabinet         1.179          2.019          -2.0           0              0              0
  61  Cabinet         0.199          2.019          -2.0           0              0              0
  62  Cabinet         1.75           2.019          -1.399         0              270            0
  63  Cabinet         1.75           2.019          -1.029         0              270            0
  64  Cabinet         1.379          0.469          -1.689         0              0              0
  65  Cabinet         -0.819         0.469          -1.689         0              0              0
  66  Cabinet         1.389          0.469          -1.059         0              270            0
  67  Cabinet         -0.839         0.469          -1.665         0              90             0
  68  StoveBurner     1.567          0.940          -0.355         0              0              0
  69  StoveBurner     1.845          0.940          -0.757         0              0              0
  70  Sink            -0.109         0.893          -2.009         0              0              0
  71  Drawer          -0.819         0.75           -1.690         0              0              0
  72  CounterTop      0.232          0.949          -2.002         0              0              0
  73  GarbageCan      1.855          -0.034         0.141          0              358.959        0
  74  Vase            0.251          0.546          0.475          0              270            0
  75  Toaster         0.780          0.900          -2.080         0              0              0
  76  LightSwitch     0.108          1.315          2.75           0              180            0
  77  Vase            0.400          0.925          0.218          0              180            0
  78  Microwave       -1.233         0.900          -1.680         0              90             0
  79  Vase            1.465          1.662          -2.200         0              0              0
  80  Fridge          -1.495         0.0            -0.703         0              0              0
  81  Window          2.114          1.495          1.072          90             270            0
  82  CoffeeMachine   1.374          0.899          -2.112         0              0              0
  83  Vase            0.333          0.546          1.272          0              270            0
  84  SinkBasin       -0.148         0.753          -2.026         0              0              0
  85  StoveKnob       2.037          1.089          -0.405         0              0              74.477
  86  StoveKnob       2.037          1.089          -0.251         0              0              74.477
  87  StoveKnob       2.037          1.089          -0.649         0              0              74.477
  88  StoveKnob       2.037          1.089          -0.814         0              0              74.477
  89  DiningTable     0.170          0.005          0.678          0              270            0
  90  Shelf           0.170          0.155          0.678          0              270            0
  91  Shelf           1.605          0.172          2.480          0              0              0
  92  Shelf           1.605          0.552          2.480          0              0              0
  93  Shelf           1.604          0.880          2.479          0              0              0
  94  ShelvingUnit    1.605          0.006          2.480          0              0              0
  95  Faucet          -0.143         1.028          -2.223         0              270            0
  96  Stool           -0.553         0.000          0.871          1.233          280.376        0
  97  Shelf           0.170          0.528          0.678          0              270            0
  98  NorthWall
  99  EastWall
 100  SouthWall
 101  WestWall

Plan:
STEP 1: Turn around, go forward a bit, turn left at the table | STEP 2: Pick up the knife on the table | STEP 3: Cut the apple on the table | STEP 4: Turn left, go forward a bit, turn left at the basket | STEP 5: Put the knife into the basket | STEP 6: Turn left, go forward, turn left to face the table | STEP 7: Pick up an apple piece from the table | STEP 8: Turn left, go forward, turn right 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 right, go forward, turn right, go forward, turn left, go forward a bit, turn right at the basket | STEP 11: Put the apple piece into the basket | END