Task: Put piece of apple on opposite counter

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.25          0.899          5.5            0              0              0
   1  Pencil          -4.411         0.923          3.863          0              90             0              78
   2  Pencil          -1.860         0.747          1.985          0              0              0              76
   3  Potato          -0.218         1.614          3.470          0              270            0              111
   4  DishSponge      -0.503         0.746          6.800          0              270            0              98
   5  DishSponge      -4.377         0.923          1.648          0              0              0              78
   6  ButterKnife     -1.860         0.923          1.951          0              0              0              60
   7  ButterKnife     -0.258         0.925          5.932          0              0              0              63
   8  WineBottle      -0.334         0.926          5.932          0              0              0              63
   9  WineBottle      -3.733         0.924          5.182          0              90             0              78
  10  Pot             -2.924         0.930          1.712          0              180            0              75
  11  Pot             -4.26          0.924          4.381          0              180            0              78
  12  Fork            -2.026         0.924          1.951          0              0              0              60
  13  Spatula         -0.181         0.940          4.944          0              90             0              63
  14  Cup             -4.196         0.789          3.410          0              270            0              110
  15  Cup             -2.530         1.545          1.731          0              0              0              108
  16  Egg             -0.218         1.371          3.974          0              270            0              111
  17  Egg             -4.102         0.959          2.183          0              0              0              78
  18  Plate           -1.698         0.082          1.892          0              0              0              94
  19  Plate           -1.693         0.924          1.724          0              0              0              60
  20  Knife           -1.943         0.953          1.8            0              0              0              60
  21  SoapBottle      -0.488         0.924          5.603          0              0              0              63
  22  SoapBottle      -4.201         0.084          2.776          0              0              0              70
  23  Tomato          -3.733         0.980          5.412          0              90             0              78
  24  SaltShaker      -0.104         0.921          4.615          0              0              0              63
  25  PepperShaker    -3.583         0.741          2.015          0              0              0              84
  26  Lettuce         -0.242         1.165          3.726          0              90             0              111
  27  Mug             -4.159         0.785          3.285          0              270            0              110
  28  Egg             -4.084         0.826          3.410          0              270            0              110
  29  Apple           -0.258         0.978          4.615          0              0              0              63
  30  Knife           -0.411         0.954          4.944          0              0              0              63
  31  Potato          -3.613         0.956          5.489          0              90             0              78
  32  Fork            -4.159         0.791          3.097          0              0              0              110
  33  Bowl            -0.295         1.067          3.974          0              270            0              111
  34  Plate           -0.401         1.071          3.355          0              270            0              111
  35  Lettuce         -0.342         1.676          3.289          0              270            0              111
  36  Bread           -0.258         1.004          5.273          0              0              0              63
  37  Tomato          -3.748         0.125          6.375          0              270            0              104
  38  WineBottle      -4.411         0.924          5.418          0              90             0              78
  39  Spatula         -4.312         0.938          2.416          0              90             0              78
  40  PaperTowelRoll  -0.411         1.029          5.273          0              0              0              63
  41  Cup             -2.688         1.545          1.633          0              0              0              108
  42  Pencil          -0.532         0.747          6.567          0              270            0              98
  43  Pan             -2.469         0.930          1.712          0              270            0              93
  44  Pot             -2.924         0.930          2.012          0              0              0              61
  45  SaltShaker      -0.503         0.743          4.382          0              270            0              68
  46  SoapBottle      -0.334         0.924          5.603          0              0              0              63
  47  PepperShaker    -2.133         1.449          1.605          0              0              0              97
  48  ButterKnife     -4.031         0.923          2.026          0              0              0              78
  49  DishSponge      -4.064         0.083          3.038          0              0              0              91
  50  Spoon           -4.233         0.792          3.159          0              270            0              110
  51  Mug             -4.271         0.785          3.222          0              270            0              110
  52  Cabinet         -3.203         1.931          1.777          0              0              0
  53  Cabinet         -3.187         0.390          2.089          0              0              0
  54  Cabinet         -0.637         0.387          6.882          0              180            0
  55  Drawer          -3.797         0.781          1.961          0              0              0
  56  Cabinet         -3.036         0.387          5.029          0              90             0
  57  Drawer          -0.509         0.775          5.268          0              270            0
  58  Drawer          -4.125         0.798          2.499          0              0              0
  59  Cabinet         -0.331         2.249          4.308          0              180            0
  60  CounterTop      -1.872         0.958          1.799          0              0              0
  61  StoveBurner     -2.924         0.924          2.012          0              0              0
  62  Cabinet         -0.331         2.249          6.806          0              180            0
  63  CounterTop      -0.345         0.960          5.603          0              0              0
  64  Cabinet         -3.039         1.935          5.321          0              90             0
  65  Cabinet         -3.922         0.397          2.088          0              0              0
  66  StoveBurner     -2.467         0.924          2.012          0              0              0
  67  Cabinet         -0.331         2.249          5.505          0              180            0
  68  Drawer          -0.509         0.775          4.617          0              270            0
  69  Drawer          -3.509         0.777          5.157          0              180            0
  70  Cabinet         -3.961         0.388          2.878          0              0              0
  71  Cabinet         -3.961         0.388          4.342          0              0              0
  72  Cabinet         -0.637         0.387          5.582          0              180            0
  73  Cabinet         -0.637         0.388          4.299          0              180            0
  74  Cabinet         -0.637         0.388          5.599          0              180            0
  75  StoveBurner     -2.924         0.924          1.712          0              180            0
  76  Drawer          -1.859         0.775          1.961          0              0              0
  77  Cabinet         -0.331         2.249          5.609          0              180            0
  78  CounterTop      -4.260         0.958          4.943          0              90             0
  79  Cabinet         -4.284         1.931          2.226          0              0              0
  80  Cabinet         -0.331         2.249          3.010          0              180            0
  81  Drawer          -3.801         0.777          5.157          0              180            0
  82  Cabinet         -4.112         1.935          5.321          0              90             0
  83  Cabinet         -3.968         0.388          3.662          0              0              0
  84  Drawer          -3.418         0.777          1.961          0              0              0
  85  Drawer          -4.090         0.777          4.661          0              90             0
  86  Faucet          -4.441         0.909          3.288          270            0              0
  87  Cabinet         -0.331         2.249          4.207          0              180            0
  88  Cabinet         -3.961         0.388          2.119          0              0              0
  89  Drawer          -0.509         0.775          5.920          0              270            0
  90  Drawer          -3.193         0.777          5.157          0              180            0
  91  Cabinet         -3.968         0.388          2.894          0              0              0
  92  Cabinet         -3.667         0.387          5.029          0              90             0
  93  StoveBurner     -2.469         0.924          1.712          0              270            0
  94  Cabinet         -1.539         0.388          2.090          0              0              0
  95  Sink            -4.190         0.921          3.279          0              0              0
  96  Cabinet         -3.641         0.387          5.029          0              90             0
  97  Cabinet         -1.583         1.931          1.777          0              0              0
  98  Drawer          -0.509         0.775          6.568          0              270            0
  99  CoffeeMachine   -0.279         0.912          6.556          0              270            0
 100  StoveKnob       -2.347         1.095          1.560          288.012        180            180
 101  StoveKnob       -2.788         1.095          1.560          288.012        180            180
 102  StoveKnob       -2.965         1.095          1.560          288.012        180            180
 103  StoveKnob       -2.512         1.095          1.560          288.012        180            180
 104  GarbageCan      -3.711         -0.030         6.376          0              270            0
 105  Toaster         -3.578         0.912          1.763          0              0              0
 106  Curtains        -4.522         2.252          3.391          90             90             0
 107  Window          -4.868         1.629          3.309          90             270            0
 108  Microwave       -2.693         1.430          1.689          0              0              0
 109  LightSwitch     -1.588         1.169          1.506          0              0              0
 110  SinkBasin       -4.196         0.780          3.276          0              270            0
 111  Fridge          -0.324         -0.001         3.602          0              0              0
 112  NorthWall
 113  EastWall
 114  SouthWall
 115  WestWall

Plan:
STEP 1: Turn around and walk to counter, turn left | STEP 2: Pick up butter knife on counter | STEP 3: Turn right and walk to fridge, turn right  | STEP 4: Cut apple on counter | STEP 5: Turn around and walk to opposite counter  | STEP 6: Put knife down on counter in front of pot | STEP 7: Turn around and walk back to counter near fridge | STEP 8: Pick up cut piece of apple | STEP 9: Turn right, walk forward, turn left at refrigerator  | STEP 10: Open refrigerator and place apple on bottom shelf, close refrigerator, open refrigerator, pick up apple and close refrigerator | STEP 11: Turn around and walk back to counter | STEP 12:  Place apple on counter beside knife and pot | END