Task: Put rinsed apple behind knife on counter.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.0            0.900          0.25           0              0              0
   1  Pan             -2.59          0.9            -1.147         0              0              0              75
   2  Potato          -0.598         0.933          -1.119         0              47.530         0              75
   3  CreditCard      0.254          0.744          -1.138         0              0              0              76
   4  Kettle          -2.823         0.928          -0.711         0              0              0              72
   5  Kettle          -2.823         0.928          -0.396         0              0              0              74
   6  Spoon           0.990          1.112          0.883          0              315            0              68
   7  Fork            -2.853         0.911          -0.062         0              0              0              67
   8  Fork            -2.026         0.747          -0.966         0              0              0              70
   9  Spatula         -1.073         0.866          -1.194         0              270            0              85
  10  Spatula         -1.591         0.866          -1.194         0              180            0              85
  11  Plate           -1.173         0.119          -1.068         0              0              0              48
  12  Egg             -2.699         0.071          1.361          0              0              0              86
  13  Egg             -1.591         0.886          -1.305         0              0              0              85
  14  SoapBottle      -2.815         0.038          1.466          0              0              0              86
  15  Tomato          -2.920         1.722          0.771          0              90             0              87
  16  Tomato          -2.860         1.523          0.932          0              90             0              87
  17  PepperShaker    0.111          1.658          -1.435         0              0              0              62
  18  PepperShaker    0.471          1.108          1.402          0              315            0              68
  19  SaltShaker      0.758          1.658          -1.322         0              0              0              53
  20  SaltShaker      -0.176         1.108          1.730          0              315            0              68
  21  Bread           0.894          1.166          1.133          0              315            0              68
  22  Bread           -2.800         0.432          1.013          0              90             0              87
  23  Mug             -2.740         0.814          0.771          0              90             0              87
  24  Mug             0.346          1.000          -1.281         0              270            0              88
  25  Apple           0.284          1.154          1.580          0              0              0              68
  26  Fork            -2.521         0.911          0.021          0              0              0              73
  27  Kettle          -0.767         0.912          -1.365         0              0              0              75
  28  CreditCard      -1.948         0.743          -1.051         0              0              0              70
  29  Bread           0.765          0.965          -1.365         0              0              0              75
  30  Plate           -0.941         1.664          -1.360         0              0              0              64
  31  SoapBottle      -2.236         0.912          -1.115         0              0              0              75
  32  Spatula         0.721          1.126          1.306          0              45             0              68
  33  Lettuce         -2.660         0.874          0.983          31.046         0              0              87
  34  SaltShaker      -2.521         0.907          0.190          0              0              0              67
  35  Tomato          -2.800         0.869          1.094          0              90             0              87
  36  PepperShaker    -2.698         1.791          -0.660         0              0              0              46
  37  ButterKnife     -2.222         0.9            -0.997         0              323.977        0              75
  38  Pot             1.463          1.100          0.61           0              0              0              68
  39  DishSponge      -1.221         0.841          -1.126         0              41.164         0              85
  40  Egg             0.241          1.044          -1.414         0              0              0              88
  41  Spoon           -2.628         0.747          0.099          0              0              0              73
  42  Knife           0.060          1.106          1.587          270            209.997        0              68
  43  Cup             -1.119         0.841          -1.241         0              0              0              85
  44  Mug             -2.920         0.814          0.771          0              90             0              87
  45  Bowl            -2.046         0.9            -1.163         0              0              0              75
  46  Cabinet         -2.647         2.075          -0.875         0              0              0
  47  Cabinet         -2.647         2.075          -0.234         0              0              0
  48  Cabinet         -0.824         0.469          -0.907         0              0              0
  49  Cabinet         -1.764         2.009          -1.197         0              0              0
  50  Cabinet         -1.834         2.009          -1.197         0              0              0
  51  Cabinet         -1.850         0.389          -0.897         0              0              0
  52  Cabinet         -1.801         0.469          -0.907         0              0              0
  53  Cabinet         1.115          2.009          -1.197         0              0              0
  54  Cabinet         0.235          2.009          -1.197         0              0              0
  55  Cabinet         1.125          0.470          -0.897         0              0              0
  56  Cabinet         -2.387         0.389          0.375          0              0              0
  57  Cabinet         0.484          0.389          -0.897         0              0              0
  58  Cabinet         -2.625         2.009          -1.197         0              0              0
  59  Cabinet         -2.647         2.009          -0.945         0              0              0
  60  Cabinet         -2.647         2.200          1.664          0              0              0
  61  Cabinet         -2.647         2.009          0.364          0              0              0
  62  Cabinet         0.164          2.009          -1.197         0              0              0
  63  Cabinet         -0.765         2.009          -1.197         0              0              0
  64  Cabinet         -0.834         2.009          -1.197         0              0              0
  65  Cabinet         -2.647         2.200          0.434          0              0              0
  66  StoveBurner     -2.622         0.886          -0.711         0              0              0
  67  CounterTop      -2.699         0.946          0.106          0              0              0
  68  CounterTop      0.908          1.147          0.788          0              315            0
  69  StoveBurner     -2.622         0.886          -0.396         0              0              0
  70  Drawer          -2.026         0.779          -1.082         0              0              0
  71  Sink            -1.328         0.916          -1.225         0              0              0
  72  StoveBurner     -2.822         0.886          -0.711         0              0              0
  73  Drawer          -2.572         0.779          0.099          0              0              0
  74  StoveBurner     -2.822         0.886          -0.396         0              0              0
  75  CounterTop      0.071          0.946          -1.199         0              0              0
  76  Drawer          0.254          0.779          -1.082         0              0              0
  77  LightSwitch     -1.167         1.307          3.0            0              180            0
  78  CoffeeMachine   1.124          1.100          0.312          0              227.685        0
  79  StoveKnob       -2.429         0.863          -0.621         311.864        270            180
  80  StoveKnob       -2.429         0.863          -0.477         311.864        270            180
  81  StoveKnob       -2.429         0.863          -0.782         311.864        270            180
  82  StoveKnob       -2.429         0.863          -0.324         311.864        270            180
  83  Window          0.321          1.449          3.088          90             0              0
  84  Toaster         -2.823         0.899          0.246          0              90             0
  85  SinkBasin       -1.344         0.838          -1.25          0              0              0
  86  GarbageCan      -2.757         1.886          1.466          0              0              0
  87  Fridge          -2.855         0.0            0.851          0              0              0
  88  Microwave       0.283          0.900          -1.331         0              0              0
  89  Stool           1.541          0.010          1.328          0              45             0
  90  Stool           0.983          0.010          1.793          0              47.459         0
  91  Faucet          -1.392         1.136          -1.399         0              270            0
  92  NorthWall
  93  EastWall
  94  SouthWall
  95  WestWall

Plan:
STEP 1: Turn left, turn left, move to end of island, turn right to face island. | STEP 2: Pick up knife from island. | STEP 3: Turn left, walk around end of island, face the apple. | STEP 4: Cut apple on island in thirds. | STEP 5: Pick up knife from island, proceed around island in a zigzag fashion, walk to counter beside microwave. | STEP 6: Put knife on counter to right of microwave. | STEP 7: Turn right, turn right, walk around island to face apple. | STEP 8: Pick up one third of the apple on island. | STEP 9: Turn right, walk toward refrigerator, turn left, walk to sink. | STEP 10: Fill sink, drain sink, take apple out of sink. | STEP 11: Turn left, walk to counter, turn right to face counter. | STEP 12: Place apple piece behind knife on the counter. | END