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How do you make a fire, collect berries or plant things? I only managed to pick up a branch which I thought I could use to kill orcs but that didn't seem to work.

Use a - apply to make fire (if you found the required stuff) or plant, and use comma - pick up to collect berries. And you can kill orcs with or without a branch :)

Aha! On another play-through one of my captures had a flint & steel. Now I might get somewhere.