Task: To heat an egg and put it on the table.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.0           0.900          1.0            0              180            0
   1  Pan             0.678          0.964          1.345          0              0              0              83
   2  Potato          -0.157         0.800          -0.651         0              90             0              102
   3  Potato          -1.056         0.855          -1.257         0              90             0              104
   4  DishSponge      -2.019         0.423          1.417          0              270            0              98
   5  DishSponge      -0.246         0.911          1.468          0              0              0              56
   6  ButterKnife     -0.836         0.820          -1.328         0              0              0              104
   7  ButterKnife     1.155          0.911          1.044          0              0              0              80
   8  Spoon           -0.055         0.912          1.383          0              0              0              56
   9  Spatula         -0.839         0.835          -1.411         0              180            0              104
  10  Plate           1.179          1.658          1.468          0              0              0              72
  11  Plate           2.754          0.914          1.468          0              0              0              80
  12  Egg             2.754          0.949          1.129          0              0              0              80
  13  Egg             2.900          1.056          -0.840         0              0              0              100
  14  Knife           0.053          0.798          -0.651         0              180            0              102
  15  Knife           -0.939         0.853          -1.183         0              90             0              104
  16  SaltShaker      0.290          1.651          -0.888         0              180            0              85
  17  PepperShaker    1.141          0.908          -0.430         0              0              0              45
  18  PepperShaker    1.955          0.908          1.299          0              0              0              80
  19  Bread           2.715          1.621          -0.644         0              0              0              100
  20  Lettuce         1.422          0.992          1.468          0              0              0              80
  21  Mug             2.487          1.650          1.546          0              0              0              46
  22  SoapBottle      2.188          1.660          1.546          0              0              0              69
  23  Plate           2.715          1.021          -0.578         0              0              0              100
  24  Fork            1.209          0.771          1.122          0              90             0              90
  25  Pot             0.297          0.960          1.346          0              0              0              60
  26  Bread           -0.198         0.969          1.214          0              0              0              56
  27  Egg             -0.682         0.858          -1.183         0              0              0              104
  28  Kettle          2.837          0.115          1.156          0              0              0              77
  29  Tomato          3.260          0.871          -0.514         0              0              0              100
  30  Cup             0.053          0.763          -0.762         0              0              0              102
  31  Spatula         0.888          0.926          -0.6           0              90             0              45
  32  Apple           2.715          1.357          -0.644         0              0              0              100
  33  Pan             -0.123         0.114          1.156          0              0              0              56
  34  Lettuce         2.221          0.992          1.129          0              0              0              80
  35  SaltShaker      1.896          0.111          1.077          0              0              0              65
  36  Knife           2.488          0.944          1.044          0              0              0              80
  37  Potato          1.955          0.946          1.468          0              0              0              80
  38  PepperShaker    -0.983         0.817          -1.360         0              90             0              104
  39  ButterKnife     0.634          0.911          -0.515         0              0              0              45
  40  Bowl            2.653          0.724          -0.504         0              0              0              100
  41  DishSponge      0.215          1.655          -0.810         0              180            0              85
  42  Spoon           1.155          0.912          1.044          0              0              0              80
  43  Mug             2.962          1.558          -0.644         0              0              0              100
  44  Sink            0.050          0.902          -0.648         0              0              0
  45  CounterTop      1.358          0.947          -0.600         0              0              0
  46  Cabinet         2.986          2.009          1.304          0              0              0
  47  Cabinet         1.022          2.009          -0.607         0              180            0
  48  StoveBurner     0.678          0.923          1.082          0              0              0
  49  Cabinet         2.371          0.402          0.995          0              0              0
  50  Drawer          -0.125         0.792          0.995          0              0              0
  51  StoveBurner     0.281          0.923          1.082          0              0              0
  52  Cabinet         1.025          0.402          0.995          0              0              0
  53  Cabinet         1.023          0.402          -0.296         0              180            0
  54  Cabinet         0.974          2.259          1.304          0              0              0
  55  Cabinet         0.979          2.009          -0.607         0              180            0
  56  CounterTop      -0.158         0.947          1.299          0              0              0
  57  Cabinet         1.725          2.009          1.304          0              0              0
  58  Drawer          2.205          0.792          -0.294         0              180            0
  59  Drawer          1.869          0.792          -0.294         0              180            0
  60  StoveBurner     0.281          0.923          1.347          0              0              0
  61  Drawer          2.512          0.792          0.995          0              0              0
  62  Cabinet         1.673          0.402          -0.296         0              180            0
  63  Drawer          1.524          0.792          0.995          0              0              0
  64  Drawer          1.174          0.792          -0.294         0              180            0
  65  Cabinet         1.720          0.402          0.995          0              0              0
  66  Cabinet         2.348          2.009          -0.607         0              180            0
  67  Cabinet         1.676          2.009          -0.607         0              180            0
  68  Cabinet         1.673          2.009          1.304          0              0              0
  69  Cabinet         2.326          2.009          1.304          0              0              0
  70  Cabinet         2.370          2.009          1.304          0              0              0
  71  Cabinet         0.021          2.009          1.304          0              0              0
  72  Cabinet         1.025          2.009          1.304          0              0              0
  73  Cabinet         -0.274         0.402          0.995          0              0              0
  74  Cabinet         1.675          0.402          0.995          0              0              0
  75  Drawer          1.524          0.792          -0.294         0              180            0
  76  Drawer          2.187          0.792          0.995          0              0              0
  77  Cabinet         2.977          0.402          0.995          0              0              0
  78  Drawer          1.862          0.792          0.995          0              0              0
  79  Cabinet         0.072          2.259          1.304          0              0              0
  80  CounterTop      1.917          0.947          1.299          0              0              0
  81  Cabinet         2.328          0.402          0.995          0              0              0
  82  Cabinet         1.723          2.009          -0.607         0              180            0
  83  StoveBurner     0.677          0.923          1.345          0              0              0
  84  Cabinet         0.355          2.009          -0.607         0              180            0
  85  Cabinet         0.332          2.009          -0.607         0              180            0
  86  Cabinet         2.349          0.402          -0.296         0              180            0
  87  Cabinet         -0.284         2.009          -0.607         0              180            0
  88  Faucet          0.061          0.906          -0.903         0              0              0
  89  Drawer          2.837          0.792          0.995          0              0              0
  90  Drawer          1.175          0.792          0.995          0              0              0
  91  Cabinet         1.723          0.402          -0.296         0              180            0
  92  StoveKnob       0.588          1.093          1.557          287.970        0              0
  93  StoveKnob       0.188          1.093          1.557          287.970        0              0
  94  StoveKnob       0.749          1.093          1.557          287.970        0              0
  95  StoveKnob       0.338          1.093          1.557          287.970        0              0
  96  Toaster         1.934          0.900          -0.717         0              0              0
  97  LightSwitch     -1.662         1.427          1.649          0              180            0
  98  GarbageCan      -1.965         -0.029         1.358          0              270            0
  99  CoffeeMachine   1.542          0.900          -0.751         0              0              0
 100  Fridge          3.043          0.0            -0.709         0              0              0
 101  Window          -2.183         1.501          -0.014         90             270            0
 102  SinkBasin       0.043          0.755          -0.651         0              0              0
 103  Microwave       0.531          1.675          1.437          0              180            0
 104  DiningTable     -0.836         8.404          -1.258         0              0              0
 105  Chair           -1.611         0.002          -1.185         0              45             0
 106  NorthWall
 107  EastWall
 108  SouthWall
 109  WestWall

Plan:
STEP 1: Walk to the small table ahead of you.  | STEP 2: Pick up the egg in front of the butter knife.  | STEP 3: Turn around, walk to the stove, look up at the microwave above the stove.  | STEP 4: Open the microwave door, place the egg inside the microwave, heat up the egg, take the egg out of the microwave, close the microwave door.  | STEP 5: Turn left, turn left at the window, walk to the small table ahead of you.  | STEP 6: Put the egg down on the table to the right of the pen.  | END