Task: To place the apple and knife in a pan 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           0.0            0.900          0.25           0              0              0
   1  Pan             -1.081         0.949          -1.81          0              0              0              75
   2  SprayBottle     0.232          0.114          -1.726         0              180            0              76
   3  SprayBottle     -1.809         0.909          -1.707         0              90             0              77
   4  Pen             1.454          1.164          -1.688         0              0              0              85
   5  Potato          0.149          0.961          -1.607         0              270            0              58
   6  Potato          1.332          1.859          2.306          0              270            0              98
   7  Ladle           -1.732         0.954          -1.879         0              270            0              77
   8  ButterKnife     1.260          0.911          -0.990         0              0              0              79
   9  Glassbottle     -1.082         1.851          -1.802         0              0              0              59
  10  Glassbottle     1.494          1.162          -1.345         0              0              0              85
  11  Pot             0.569          0.913          -1.619         0              0              0              79
  12  Egg             -0.040         0.805          -1.781         0              270            0              100
  13  Egg             1.262          0.243          0.993          0              0              0              96
  14  Cup             0.251          0.920          -1.708         0              270            0              58
  15  Cup             1.454          1.162          -0.659         0              0              0              85
  16  Plate           -0.037         1.656          -1.839         0              0              0              69
  17  Plate           -0.530         1.656          -1.839         0              0              0              61
  18  Knife           -1.957         0.940          0.118          0              0              0              81
  19  SoapBottle      1.375          1.162          -1.345         0              0              0              85
  20  SoapBottle      -1.396         1.858          -1.838         0              0              0              72
  21  Bowl            0.171          0.115          -1.536         0              90             0              76
  22  Bowl            -2.323         0.911          0.291          0              0              0              81
  23  PepperShaker    -1.732         0.111          -1.635         0              0              0              86
  24  PepperShaker    1.520          1.651          -0.579         0              0              0              67
  25  SaltShaker      -0.685         0.106          -1.681         0              0              0              66
  26  Lettuce         1.325          1.436          1.726          0              270            0              98
  27  Lettuce         1.325          1.436          2.101          0              270            0              98
  28  Mug             1.420          1.715          1.901          0              270            0              98
  29  Apple           -1.732         0.945          -1.534         0              0              0              77
  30  Tomato          -0.778         0.951          -1.789         0              0              0              79
  31  Glassbottle     1.275          1.368          2.476          0              270            0              98
  32  Knife           0.946          0.941          -1.448         0              0              0              79
  33  Plate           1.401          1.656          -1.342         0              0              0              71
  34  Fork            1.533          1.162          -0.659         0              90             0              85
  35  Ladle           -1.957         0.954          0.291          0              0              0              81
  36  Potato          1.325          1.409          2.351          0              270            0              98
  37  Lettuce         -2.079         0.979          0.291          0              0              0              81
  38  Kettle          -1.712         0.911          0.463          0              0              0              81
  39  Pen             -2.075         0.777          -1.565         0              270            0              74
  40  SaltShaker      1.150          0.112          0.547          0              0              0              62
  41  Cup             -1.732         0.910          -1.707         0              0              0              77
  42  Egg             -0.040         0.805          -1.634         0              270            0              100
  43  Spatula         -0.778         0.926          -1.619         0              90             0              79
  44  Bowl            1.343          0.911          0.031          0              0              0              79
  45  SprayBottle     -0.313         1.654          -1.801         0              0              0              61
  46  Pan             -1.079         0.945          -1.528         0              0              0              80
  47  SoapBottle      0.852          0.911          -1.534         0              0              0              79
  48  Pot             -1.431         0.949          -1.525         0              0              0              87
  49  ButterKnife     1.414          1.162          -1.002         0              0              0              85
  50  PepperShaker    -1.886         0.905          -1.620         0              0              0              77
  51  DishSponge      0.475          0.910          -1.448         0              0              0              79
  52  Bread           -2.116         0.988          -1.534         0              0              0              77
  53  Apple           1.341          0.249          1.08           0              0              0              96
  54  Spoon           0.149          0.920          -1.758         0              270            0              58
  55  Mug             1.070          0.957          -1.641         0              0              0              95
  56  Drawer          0.860          0.75           0.430          0              0              0
  57  Drawer          0.871          0.75           -1.134         0              0              0
  58  Sink            0.156          0.817          -1.801         0              270            0
  59  Cabinet         -0.868         2.005          -1.690         0              0              0
  60  Cabinet         -1.661         2.059          -1.684         0              90             0
  61  Cabinet         -0.817         2.059          -1.689         0              0              0
  62  Cabinet         0.860          0.402          0.665          0              0              0
  63  Cabinet         0.860          0.402          -0.552         0              0              0
  64  Cabinet         0.860          0.402          -1.365         0              0              0
  65  Cabinet         -0.244         0.402          -1.389         0              0              0
  66  Cabinet         -0.815         0.402          -1.389         0              0              0
  67  Cabinet         1.159          2.059          -0.334         0              0              0
  68  Cabinet         0.488          2.059          -1.689         0              0              0
  69  Cabinet         -0.193         2.059          -1.689         0              0              0
  70  Drawer          0.860          0.75           -0.699         0              0              0
  71  Cabinet         1.159          2.059          -1.019         0              0              0
  72  Cabinet         -1.611         2.005          -1.690         0              0              0
  73  Cabinet         0.832          0.401          -1.393         0              90             0
  74  Drawer          -2.105         0.75           -1.389         0              0              0
  75  StoveBurner     -1.081         0.941          -1.809         0              0              0
  76  Cabinet         -0.202         0.401          -1.391         0              90             0
  77  CounterTop      -1.973         0.945          -1.707         0              0              0
  78  Drawer          -0.375         0.75           -1.389         0              0              0
  79  CounterTop      1.164          0.946          -0.649         0              0              0
  80  StoveBurner     -1.081         0.941          -1.527         0              0              0
  81  CounterTop      -2.096         0.945          0.291          0              0              0
  82  Cabinet         -2.237         0.402          -1.389         0              0              0
  83  Drawer          0.584          0.75           -1.389         0              0              0
  84  Drawer          -1.795         0.75           -1.389         0              0              0
  85  CounterTop      1.5            1.197          -0.654         0              0              0
  86  Cabinet         -1.667         0.402          -1.389         0              0              0
  87  StoveBurner     -1.430         0.941          -1.525         0              0              0
  88  Drawer          -0.685         0.75           -1.389         0              0              0
  89  StoveBurner     -1.430         0.941          -1.809         0              0              0
  90  LightSwitch     -2.539         1.289          2.568          0              90             0
  91  StoveKnob       -1.362         1.095          -1.983         287.970        180            0
  92  StoveKnob       -0.962         1.095          -1.983         287.970        180            0
  93  StoveKnob       -1.522         1.095          -1.983         287.970        180            0
  94  StoveKnob       -1.112         1.095          -1.983         287.970        180            0
  95  CoffeeMachine   1.082          0.900          -1.848         0              0              0
  96  GarbageCan      1.343          0.015          1.041          0              0              0
  97  HousePlant      1.440          1.153          0.593          0              0              0
  98  Fridge          1.417          0.0            2.101          0              0              0
  99  Window          -0.486         1.452          3.302          90             0              0
 100  SinkBasin       -0.063         0.765          -1.713         0              270            0
 101  Microwave       1.422          1.150          0.022          0              270            0
 102  Toaster         -2.066         0.900          -1.848         0              0              0
 103  Stool           -1.994         0.010          0.882          0              0              0
 104  Faucet          -0.096         1.041          -1.867         0              270            0
 105  NorthWall
 106  EastWall
 107  SouthWall
 108  WestWall

Plan:
STEP 1: Look down and turn around and walk towards the sink then turn left | STEP 2: pick up the knife that is on the counter | STEP 3: hold the knife and turn right then another right then walk forward then turn left towards the counter | STEP 4: Look at the floor | STEP 5: then turn left walk forward and turn right towards the stove | STEP 6: stand by the stove put knife on the stove in a pan | STEP 7: turn right then walk forward and then turn left towards the counter | STEP 8: pick up the apple slice from the counter | STEP 9: turn left with the apple slice in hand then walk forward and turn right | STEP 10: put the apple slices on the stove next to the knife | STEP 11: pick up the pan from the stove | STEP 12: turn left and walk straight caring the pan over to the counter | STEP 13: place the pan on the counter | END