Task: Slice an apple, cook it and set it on the counter

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.5           0.900          2.25           0              180            0
   1  ButterKnife     1.796          0.911          -1.717         0              90             0              48
   2  DishSponge      1.739          0.069          1.731          0              270            0              62
   3  Fork            0.220          0.911          1.180          0              90             0              44
   4  Spoon           1.757          0.911          1.092          0              180            0              44
   5  Spoon           1.796          0.912          -1.374         0              90             0              48
   6  Spatula         0.732          0.925          1.004          0              180            0              44
   7  Spatula         0.220          0.925          0.915          0              90             0              44
   8  Egg             1.673          1.050          -0.729         0              270            0              68
   9  Egg             -0.838         0.781          -1.524         0              0              0              71
  10  Cup             1.726          0.909          -1.802         0              90             0              48
  11  Cup             -0.741         0.458          -1.412         0              0              0              71
  12  Knife           0.732          0.943          0.827          0              180            0              44
  13  SoapBottle      1.878          2.135          0.842          0              0              0              52
  14  Tomato          1.684          0.974          0.518          0              90             0              44
  15  Bowl            0.220          0.909          0.827          0              90             0              44
  16  SaltShaker      1.917          0.905          0.622          0              90             0              44
  17  SaltShaker      0.926          0.906          -1.247         0              90             0              48
  18  Mug             1.839          0.905          0.311          0              0              0              44
  19  Mug             0.476          0.905          1.092          0              90             0              44
  20  Apple           1.170          0.817          -1.654         0              0              0              63
  21  Apple           -0.838         0.807          -1.629         0              0              0              71
  22  Plate           1.802          1.647          -0.000         0              0              0              54
  23  SoapBottle      1.757          0.908          1.180          0              90             0              44
  24  Cup             1.586          0.909          -1.802         0              90             0              48
  25  Egg             1.738          1.042          -0.782         0              270            0              68
  26  Fork            1.684          0.911          0.415          0              180            0              44
  27  Ladle           1.201          0.926          0.743          3.373          0              346.986        44
  28  Apple           1.830          0.127          1.731          0              270            0              62
  29  SaltShaker      1.529          0.905          0.415          0              90             0              44
  30  Pan             1.543          0.909          -0.320         0              90             0              47
  31  Tomato          1.656          0.975          -1.288         0              90             0              48
  32  Spatula         1.245          0.925          1.092          0              270            0              44
  33  Potato          1.865          0.951          -1.802         0              90             0              48
  34  Knife           1.139          0.760          -1.584         271.476        81.690         278.491        63
  35  ButterKnife     0.296          0.9            -1.296         0              14.568         0              48
  36  Bread           1.615          0.977          0.761          0              50.525         0              44
  37  Lettuce         0.856          0.989          1.120          0              270            1.892          44
  38  PepperShaker    1.808          1.634          0.319          0              0              0              53
  39  Pot             1.534          0.908          0.058          0              195.000        0              50
  40  DishSponge      1.800          0.069          1.540          0              270            0              62
  41  Spoon           1.165          0.750          -1.494         0              342.866        0              63
  42  Bowl            1.809          2.134          1.159          0              0              0              51
  43  Mug             1.803          1.010          -0.676         0              270            0              68
  44  CounterTop      0.989          0.946          1.016          0              90             0
  45  StoveBurner     1.807          0.907          0.075          0              180            0
  46  StoveBurner     1.807          0.907          -0.320         0              180            0
  47  StoveBurner     1.543          0.907          -0.320         0              90             0
  48  CounterTop      0.989          0.946          -1.516         0              90             0
  49  Sink            1.100          0.906          -1.599         0              0              0
  50  StoveBurner     1.548          0.907          0.075          0              180            0
  51  Cabinet         1.658          2.299          1.313          0              0              0
  52  Cabinet         1.658          2.299          0.686          0              0              0
  53  Cabinet         1.658          2.049          0.673          0              0              0
  54  Cabinet         1.658          2.059          0.193          0              0              0
  55  Cabinet         1.658          2.059          -0.593         0              0              0
  56  Cabinet         1.658          2.049          -0.606         0              0              0
  57  Cabinet         1.658          2.049          -1.206         0              0              0
  58  Cabinet         1.658          2.049          -1.893         0              0              0
  59  Toaster         0.131          0.900          -1.589         0              0              0
  60  Window          -0.372         1.588          3.349          90             0              0
  61  Window          0.782          1.741          -1.893         90             0              0
  62  GarbageCan      1.770          -0.029         1.685          0              270            0
  63  SinkBasin       1.091          0.740          -1.599         0              0              0
  64  StoveKnob       1.364          0.821          0.086          48.421         270            0
  65  StoveKnob       1.364          0.821          -0.180         48.421         270            0
  66  StoveKnob       1.364          0.821          -0.317         48.421         270            0
  67  StoveKnob       1.364          0.821          -0.054         48.421         270            0
  68  Microwave       1.752          0.900          -0.843         0              270            0
  69  LightSwitch     2.0            1.261          3.094          0              270            0
  70  CoffeeMachine   0.501          0.900          -1.600         0              0              0
  71  Fridge          -0.533         0.0            -1.554         0              0              0
  72  Chair           1.068          0.000          1.752          0              191.622        0
  73  Faucet          1.110          1.138          -1.764         0              270            0
  74  Chair           0.357          0.000          1.710          0              178.899        0
  75  NorthWall
  76  EastWall
  77  SouthWall
  78  WestWall

Plan:
STEP 1: Go forward, turn to your left and then turn right so that you are facing the sink | STEP 2: Pick up the knife from the sink | STEP 3: Slice the apple that is in the sink | STEP 4: Put the knife back in to the sink | STEP 5: Pick up a chunk of apple | STEP 6: Turn to face your left | STEP 7: Put the piece of apple in the microwave and cook it for a few seconds, before taking it back out | STEP 8: Walk to your left and face the counter top | STEP 9: Set the piece of apple down on the counter top | END