Task: Cut an apple and cook a piece

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.75          0.900          1.5            0              180            0
   1  Pan             1.32           0.988          3.848          0              0              0              59
   2  Potato          1.966          1.550          5.751          0              270            0              82
   3  Potato          1.442          0.925          2.525          0              90             0              83
   4  DishSponge      0.046          1.579          0.295          0              0              0              73
   5  DishSponge      1.238          0.140          2.794          0              0              0              72
   6  ButterKnife     1.225          0.992          0.440          0              0              0              60
   7  ButterKnife     0.125          0.760          6.851          0              225            0              96
   8  Spoon           -0.510         0.761          6.565          0              225            0              96
   9  Spoon           0.125          0.761          6.851          0              225            0              96
  10  Spatula         -0.575         0.775          6.719          0              225            0              96
  11  Spatula         -0.535         1.007          0.303          0              0              0              60
  12  Fork            0.668          0.772          0.563          0              0              0              52
  13  Fork            0.104          0.760          6.653          0              45             0              96
  14  Egg             -0.357         0.810          6.500          0              135            0              96
  15  Egg             2.094          1.565          5.501          0              270            0              82
  16  Cup             -0.535         0.988          0.578          0              0              0              60
  17  Knife           -0.467         0.789          6.416          0              180            0              96
  18  Tomato          -0.136         0.809          6.721          0              135            0              96
  19  Tomato          0.028          0.809          6.169          0              0              0              96
  20  PepperShaker    1.135          0.987          4.762          0              0              0              61
  21  Bread           -0.384         1.062          0.578          0              0              0              60
  22  Mug             0.956          0.138          0.497          0              0              0              66
  23  Apple           0.039          0.834          6.500          0              225            0              96
  24  Apple           -0.158         0.834          6.291          0              270            0              96
  25  Bowl            1.533          2.206          3.794          0              0              0              51
  26  Bread           -0.378         0.829          6.698          0              135            0              96
  27  Egg             1.276          0.940          2.034          0              90             0              83
  28  Knife           -0.621         0.789          6.541          0              270            0              96
  29  Fork            0.847          0.993          0.212          0              180            0              60
  30  Apple           2.051          1.590          5.626          0              270            0              82
  31  Kettle          1.559          0.988          4.294          0              0              0              58
  32  Plate           1.493          0.993          3.417          0              0              0              60
  33  SaltShaker      -0.413         0.139          0.201          0              0              0              68
  34  Lettuce         1.225          1.081          3.324          0              0              0              60
  35  SoapBottle      0.696          0.992          0.486          0              0              0              60
  36  Spatula         0.735          0.787          0.507          0              180            0              52
  37  PaperTowelRoll  1.135          1.096          4.670          0              0              0              61
  38  Pot             0.124          0.145          0.429          0              0              0              69
  39  Potato          -0.003         0.794          6.354          0              270            0              96
  40  ButterKnife     -0.221         0.760          6.941          0              0              0              96
  41  PepperShaker    1.135          0.987          4.579          0              0              0              61
  42  Pan             1.573          0.138          1.864          0              90             0              49
  43  Tomato          0.620          1.042          0.670          0              0              0              60
  44  DishSponge      1.292          0.771          3.223          0              0              0              53
  45  Cup             1.140          1.575          0.295          0              0              0              67
  46  Spoon           0.600          0.773          0.395          0              0              0              52
  47  Mug             2.094          1.510          5.876          0              270            0              82
  48  Cabinet         1.307          2.455          4.360          0              0              0
  49  Cabinet         1.054          0.422          1.710          0              0              0
  50  Drawer          1.280          0.808          4.718          0              0              0
  51  Cabinet         1.307          2.455          3.607          0              0              0
  52  Drawer          0.736          0.802          0.521          0              0              0
  53  Drawer          1.276          0.802          3.291          0              0              0
  54  StoveBurner     1.562          0.982          3.848          0              0              0
  55  StoveBurner     1.317          0.982          4.294          0              0              0
  56  Drawer          -0.482         0.802          0.521          0              0              0
  57  Drawer          0.124          0.802          0.521          0              0              0
  58  StoveBurner     1.559          0.982          4.294          0              0              0
  59  StoveBurner     1.320          0.982          3.848          0              0              0
  60  CounterTop      1.391          1.028          0.897          0              0              0
  61  CounterTop      1.391          1.028          4.716          0              0              0
  62  Cabinet         1.054          0.422          4.548          0              0              0
  63  Cabinet         1.317          2.134          0.517          0              0              0
  64  Cabinet         1.317          2.134          4.889          0              0              0
  65  Cabinet         1.317          2.134          3.095          0              0              0
  66  Cabinet         0.443          0.422          0.743          0              0              0
  67  Cabinet         1.270          2.134          0.434          0              0              0
  68  Cabinet         -0.775         0.422          0.743          0              0              0
  69  Cabinet         -0.168         0.422          0.743          0              0              0
  70  Cabinet         1.317          2.134          1.534          0              0              0
  71  Cabinet         1.054          0.422          2.990          0              0              0
  72  Cabinet         1.054          0.422          2.944          0              0              0
  73  Cabinet         -0.263         2.134          0.434          0              0              0
  74  Cabinet         0.252          2.134          0.434          0              0              0
  75  Sink            1.391          1.006          2.326          0              0              0
  76  Microwave       0.108          0.981          0.262          0              0              0
  77  HousePlant      -0.165         0.826          6.444          0              0              0
  78  CoffeeMachine   1.551          0.982          0.953          0              270            0
  79  Toaster         1.473          0.981          4.715          0              270            0
  80  Window          -2.065         1.916          3.626          90             90             0
  81  Window          1.763          2.007          2.299          90             270            0
  82  Fridge          2.035          0.0            5.625          0              0              0
  83  SinkBasin       1.387          0.880          2.338          0              90             0
  84  GarbageCan      2.001          -0.044         6.503          0              0              0
  85  StoveKnob       1.140          0.934          3.987          45             270            0
  86  StoveKnob       1.140          0.934          4.309          45             270            0
  87  StoveKnob       1.140          0.934          4.140          45             270            0
  88  StoveKnob       1.140          0.934          3.824          45             270            0
  89  Vase            -0.226         0.834          6.993          0              0              0
  90  Vase            2.098          0.043          7.070          0              257.232        0
  91  Vase            -0.594         0.835          6.130          0              225            0
  92  LightSwitch     -2.0           1.549          6.045          0              90             0
  93  Safe            2.046          1.072          7.054          0              257.232        0
  94  Faucet          1.534          1.025          2.371          0              294.391        0
  95  Blinds          1.738          2.563          2.312          0              90             0
  96  DiningTable     -0.156         0.000          6.474          0              0              0
  97  Chair           0.291          0.002          6.142          0              310.162        0
  98  GarbageBag      -1.092         0.318          0.268          270            90             83.492
  99  NorthWall
 100  EastWall
 101  SouthWall
 102  WestWall

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