Task: To boil an egg and put in the sink smoothly.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           1.5            0.900          2.75           0              0              0
   1  Pan             1.543          0.909          -0.320         0              90             0              44
   2  Potato          1.183          0.951          -1.247         0              90             0              45
   3  ButterKnife     0.476          0.910          1.180          0              90             0              41
   4  DishSponge      1.762          0.910          0.622          0              90             0              41
   5  DishSponge      0.220          0.910          0.915          0              90             0              41
   6  Fork            0.356          0.911          -1.793         0              180            0              45
   7  Egg             0.894          0.795          -1.654         0              0              0              60
   8  Cup             1.735          1.631          -1.046         0              0              0              53
   9  SoapBottle      1.769          2.135          0.880          0              0              0              49
  10  SoapBottle      1.516          0.909          -1.374         0              90             0              45
  11  Tomato          1.77           0.134          1.731          0              270            0              59
  12  SaltShaker      1.877          1.648          -0.353         0              0              0              52
  13  SaltShaker      1.769          1.648          -0.257         0              0              0              52
  14  PepperShaker    1.684          0.905          0.415          0              90             0              41
  15  PepperShaker    1.839          0.905          0.518          0              90             0              41
  16  Bread           1.726          0.988          -1.460         0              90             0              45
  17  Mug             0.502          0.940          -1.460         0              0              0              67
  18  Mug             1.809          2.131          1.121          0              0              0              48
  19  Plate           1.501          0.912          1.180          0              90             0              41
  20  SoapBottle      1.451          0.908          0.467          0              90             0              41
  21  Cup             -0.334         1.062          -1.382         0              0              0              68
  22  Egg             1.835          1.050          -0.888         0              270            0              65
  23  Fork            0.988          0.911          1.004          0              90             0              41
  24  Ladle           1.201          0.926          0.743          3.357          0              346.991        41
  25  Apple           1.170          0.817          -1.654         0              0              0              60
  26  SaltShaker      1.735          1.628          -0.682         0              0              0              53
  27  Pan             1.807          0.909          -0.320         0              180            0              43
  28  Tomato          0.476          0.974          1.092          0              90             0              41
  29  Spatula         0.989          0.925          0.915          0              270            0              41
  30  Potato          1.796          0.951          -1.631         0              90             0              45
  31  Knife           1.529          0.943          0.363          0              180            0              41
  32  ButterKnife     1.245          0.910          0.827          0              90             0              41
  33  Bread           1.615          0.977          0.761          0              50.525         0              41
  34  Lettuce         -0.790         0.560          -1.541         0              0              0              68
  35  PepperShaker    1.769          1.648          -0.449         0              0              0              52
  36  Pot             1.534          0.908          0.058          0              195.000        0              47
  37  DishSponge      1.865          0.910          -1.288         0              90             0              45
  38  Spoon           1.586          0.912          -1.717         0              90             0              45
  39  Bowl            1.805          1.634          -1.378         0              0              0              54
  40  Mug             1.844          1.634          0.487          0              90             0              50
  41  CounterTop      0.989          0.946          1.016          0              90             0
  42  StoveBurner     1.807          0.907          0.075          0              180            0
  43  StoveBurner     1.807          0.907          -0.320         0              180            0
  44  StoveBurner     1.543          0.907          -0.320         0              90             0
  45  CounterTop      0.989          0.946          -1.516         0              90             0
  46  Sink            1.100          0.906          -1.599         0              0              0
  47  StoveBurner     1.548          0.907          0.075          0              180            0
  48  Cabinet         1.658          2.299          1.313          0              0              0
  49  Cabinet         1.658          2.299          0.686          0              0              0
  50  Cabinet         1.658          2.049          0.673          0              0              0
  51  Cabinet         1.658          2.059          0.193          0              0              0
  52  Cabinet         1.658          2.059          -0.593         0              0              0
  53  Cabinet         1.658          2.049          -0.606         0              0              0
  54  Cabinet         1.658          2.049          -1.206         0              0              0
  55  Cabinet         1.658          2.049          -1.893         0              0              0
  56  Toaster         0.131          0.900          -1.589         0              0              0
  57  Window          -0.372         1.588          3.349          90             0              0
  58  Window          0.782          1.741          -1.893         90             0              0
  59  GarbageCan      1.770          -0.029         1.685          0              270            0
  60  SinkBasin       1.091          0.740          -1.599         0              0              0
  61  StoveKnob       1.364          0.821          0.086          48.421         270            0
  62  StoveKnob       1.364          0.821          -0.180         48.421         270            0
  63  StoveKnob       1.364          0.821          -0.317         48.421         270            0
  64  StoveKnob       1.364          0.821          -0.054         48.421         270            0
  65  Microwave       1.752          0.900          -0.843         0              270            0
  66  LightSwitch     2.0            1.261          3.094          0              270            0
  67  CoffeeMachine   0.501          0.900          -1.600         0              0              0
  68  Fridge          -0.533         0.0            -1.554         0              0              0
  69  Chair           1.068          0.000          1.752          0              191.622        0
  70  Faucet          1.110          1.138          -1.764         0              270            0
  71  Chair           0.357          0.000          1.710          0              178.899        0
  72  NorthWall
  73  EastWall
  74  SouthWall
  75  WestWall

Plan:
STEP 1: Twist-turn around and take an left. Left again. | STEP 2: Take the knife only from the table. | STEP 3: Turn twist and step forward with the knife in hand. | STEP 4: Touch the red ball of yarn on the table. | STEP 5: turn right and then to the left. | STEP 6: Drop the knife on the counter. | STEP 7: turn right twist and and right along to the table. | STEP 8: Pick up the red egg only from the table. | STEP 9: Walk forward and to the left to the microwave . | STEP 10: You have to open the microwave door and put the egg in it. | STEP 11: Push the door closed and enter the green stamp button. Afterward take out the red egg and in hand. | STEP 12: Over the counter on the right drop the red egg in. | END