Task: Put 2 apples in a bin.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.5            0.900          2.0            0              0              0
   1  Pan             -1.431         0.949          -1.525         0              0              0              80
   2  Pan             -1.081         0.949          -1.81          0              0              0              68
   3  SprayBottle     -0.685         0.111          -1.632         0              0              0              59
   4  ButterKnife     -2.323         0.910          0.377          0              0              0              74
   5  ButterKnife     -2.323         0.910          0.032          0              0              0              74
   6  DishSponge      1.375          1.161          -1.345         0              0              0              78
   7  Fork            0.285          0.920          -1.657         0              270            0              51
   8  Fork            0.528          0.774          -1.533         0              0              0              76
   9  Egg             1.473          1.294          0.188          0              270            0              94
  10  Egg             1.473          1.294          -0.021         0              270            0              94
  11  Plate           1.034          0.118          0.489          0              0              0              55
  12  SoapBottle      -1.125         1.850          -1.912         0              0              0              52
  13  Tomato          1.332          1.857          2.306          0              270            0              91
  14  PepperShaker    0.649          0.112          -1.441         0              90             0              66
  15  PepperShaker    -1.828         0.111          -1.440         0              0              0              79
  16  SaltShaker      -1.712         0.905          0.463          0              0              0              74
  17  SaltShaker      -1.886         0.905          -1.448         0              0              0              70
  18  Lettuce         1.426          1.436          1.976          0              270            0              91
  19  Lettuce         -2.201         0.979          0.291          0              0              0              74
  20  Apple           1.323          1.754          1.963          0              270            0              91
  21  Apple           -2.039         0.945          -1.448         0              90             0              70
  22  Apple           0.251          0.954          -1.808         0              270            0              51
  23  Tomato          1.260          0.951          -1.331         0              0              0              72
  24  Glassbottle     1.031          0.115          -0.773         0              0              0              56
  25  Knife           0.916          0.802          -1.123         0              90             0              50
  26  Plate           1.035          0.115          -1.071         0              0              0              57
  27  Fork            0.852          0.911          -1.619         0              90             0              72
  28  Ladle           -2.079         0.954          0.118          0              0              0              74
  29  Potato          0.149          0.961          -1.808         0              270            0              51
  30  Lettuce         1.260          0.980          0.031          0              0              0              72
  31  Kettle          0.770          0.9            -1.836         0              0              0              72
  32  Pen             -0.428         0.775          -1.500         0              90             0              81
  33  SaltShaker      -2.173         0.106          -1.535         0              0              0              75
  34  Cup             -0.751         0.112          -1.487         0              0              0              59
  35  Egg             1.408          1.294          0.188          0              270            0              94
  36  Spatula         -1.712         0.925          0.377          0              0              0              74
  37  Bowl            1.461          1.656          -1.185         0              0              0              64
  38  SprayBottle     -1.481         1.857          -1.766         0              0              0              65
  39  Pan             1.414          1.161          -0.659         0              0              0              78
  40  SoapBottle      0.918          0.117          0.255          0              90             0              55
  41  Pot             -0.386         1.657          -1.839         0              0              0              54
  42  ButterKnife     1.176          0.911          0.372          0              0              0              72
  43  PepperShaker    -2.074         0.106          -1.535         0              0              0              75
  44  DishSponge      0.217          0.919          -1.607         0              270            0              51
  45  Bread           -1.957         0.988          0.204          0              0              0              74
  46  Apple           1.376          1.300          -0.021         0              270            0              94
  47  Spoon           -0.344         0.774          -1.565         0              90             0              71
  48  Mug             -2.107         0.106          -1.681         0              0              0              75
  49  Drawer          0.860          0.75           0.430          0              0              0
  50  Drawer          0.871          0.75           -1.134         0              0              0
  51  Sink            0.156          0.817          -1.801         0              270            0
  52  Cabinet         -0.868         2.005          -1.690         0              0              0
  53  Cabinet         -1.661         2.059          -1.684         0              90             0
  54  Cabinet         -0.817         2.059          -1.689         0              0              0
  55  Cabinet         0.860          0.402          0.665          0              0              0
  56  Cabinet         0.860          0.402          -0.552         0              0              0
  57  Cabinet         0.860          0.402          -1.365         0              0              0
  58  Cabinet         -0.244         0.402          -1.389         0              0              0
  59  Cabinet         -0.815         0.402          -1.389         0              0              0
  60  Cabinet         1.159          2.059          -0.334         0              0              0
  61  Cabinet         0.488          2.059          -1.689         0              0              0
  62  Cabinet         -0.193         2.059          -1.689         0              0              0
  63  Drawer          0.860          0.75           -0.699         0              0              0
  64  Cabinet         1.159          2.059          -1.019         0              0              0
  65  Cabinet         -1.611         2.005          -1.690         0              0              0
  66  Cabinet         0.832          0.401          -1.393         0              90             0
  67  Drawer          -2.105         0.75           -1.389         0              0              0
  68  StoveBurner     -1.081         0.941          -1.809         0              0              0
  69  Cabinet         -0.202         0.401          -1.391         0              90             0
  70  CounterTop      -1.973         0.945          -1.707         0              0              0
  71  Drawer          -0.375         0.75           -1.389         0              0              0
  72  CounterTop      1.164          0.946          -0.649         0              0              0
  73  StoveBurner     -1.081         0.941          -1.527         0              0              0
  74  CounterTop      -2.096         0.945          0.291          0              0              0
  75  Cabinet         -2.237         0.402          -1.389         0              0              0
  76  Drawer          0.584          0.75           -1.389         0              0              0
  77  Drawer          -1.795         0.75           -1.389         0              0              0
  78  CounterTop      1.5            1.197          -0.654         0              0              0
  79  Cabinet         -1.667         0.402          -1.389         0              0              0
  80  StoveBurner     -1.430         0.941          -1.525         0              0              0
  81  Drawer          -0.685         0.75           -1.389         0              0              0
  82  StoveBurner     -1.430         0.941          -1.809         0              0              0
  83  LightSwitch     -2.539         1.289          2.568          0              90             0
  84  StoveKnob       -1.362         1.095          -1.983         287.970        180            0
  85  StoveKnob       -0.962         1.095          -1.983         287.970        180            0
  86  StoveKnob       -1.522         1.095          -1.983         287.970        180            0
  87  StoveKnob       -1.112         1.095          -1.983         287.970        180            0
  88  CoffeeMachine   1.082          0.900          -1.848         0              0              0
  89  GarbageCan      1.343          0.015          1.041          0              0              0
  90  HousePlant      1.440          1.153          0.593          0              0              0
  91  Fridge          1.417          0.0            2.101          0              0              0
  92  Window          -0.486         1.452          3.302          90             0              0
  93  SinkBasin       -0.063         0.765          -1.713         0              270            0
  94  Microwave       1.422          1.150          0.022          0              270            0
  95  Toaster         -2.066         0.900          -1.848         0              0              0
  96  Stool           -1.994         0.010          0.882          0              0              0
  97  Faucet          -0.096         1.041          -1.867         0              270            0
  98  NorthWall
  99  EastWall
 100  SouthWall
 101  WestWall

Plan:
STEP 1: Turn around, go straight, then turn right at the microwave. | STEP 2: Take the apple from the microwave. | STEP 3: Move left to the end of the counter. | STEP 4: Put the apple in the silver bin to the left of the counter. | STEP 5: Turn right, go straight to the sink. | STEP 6: Take the apple on the left drying rack. | STEP 7: Turn around, go straight then turn right at the end of the counter on the right. | STEP 8: Put the apple in the silver bin to the left of the counter. | END