Task: Heat up an egg in the microwave and put in the trash.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.75           0.900          1.5            0              90             0
   1  Potato          1.986          0.935          1.408          0              0              0              74
   2  Potato          -0.320         0.949          0.273          0              0              0              82
   3  CellPhone       -0.320         0.923          0.041          0              0              0              82
   4  CellPhone       -0.213         0.923          0.273          0              0              0              82
   5  Ladle           1.218          1.724          -1.614         0              0              0              73
   6  Kettle          0.321          0.926          0.506          0              0              0              82
   7  Kettle          1.464          1.680          -1.577         0              0              0              73
   8  ButterKnife     -1.902         0.911          -0.914         0              0              0              74
   9  Fork            1.658          0.583          -0.019         0              270            0              59
  10  Fork            1.862          0.225          1.350          0              270            0              83
  11  Spoon           1.661          0.460          0.736          0              0              0              78
  12  Spatula         -0.175         0.775          -1.435         0              180            0              98
  13  Pot             1.975          0.938          0.384          0              180            0              60
  14  Pot             -0.213         0.929          0.970          0              0              0              82
  15  Plate           -1.874         0.910          -1.318         0              0              0              74
  16  Knife           0.107          0.947          0.041          0              0              0              82
  17  Knife           -1.551         0.933          -1.063         0              0              0              74
  18  SoapBottle      2.025          0.915          0.025          0              0              0              74
  19  Tomato          -1.668         0.966          -1.707         0              0              0              74
  20  Bowl            0.138          0.111          -1.471         0              0              0              63
  21  SaltShaker      1.660          0.691          0.178          0              0              0              58
  22  PepperShaker    -1.803         1.658          -1.358         0              90             0              61
  23  Bread           0.000          1.006          0.506          0              0              0              82
  24  Bread           -0.844         0.992          -1.318         0              0              0              74
  25  Mug             -1.750         1.464          0.201          0              0              0              97
  26  Mug             -0.261         0.755          -1.490         0              90             0              98
  27  Apple           -1.645         1.522          0.201          0              90             0              97
  28  Apple           0.321          0.978          0.273          0              0              0              82
  29  SoapBottle      1.962          1.662          -1.280         0              270            0              62
  30  Cup             -1.244         0.111          -1.233         0              0              0              86
  31  Pot             0.083          0.764          -1.435         0              0              0              98
  32  Fork            -0.106         0.926          1.202          0              0              0              82
  33  Ladle           0.214          0.969          0.970          0              0              0              82
  34  Kettle          1.681          0.9            0.091          0              0              0              74
  35  Egg             1.653          0.968          -0.131         0              0              0              74
  36  Plate           -0.213         0.924          0.506          0              0              0              82
  37  Pan             1.765          0.938          0.819          0              180            0              71
  38  Lettuce         -1.750         1.753          0.201          0              90             0              97
  39  Spatula         0.256          0.775          -1.546         0              90             0              98
  40  Apple           1.892          1.059          -0.756         0              270            0              95
  41  Knife           2.073          0.933          1.408          0              270            0              74
  42  SaltShaker      1.612          0.221          1.416          0              0              0              83
  43  PepperShaker    -0.106         0.921          -0.190         0              0              0              82
  44  CellPhone       1.769          0.760          1.220          0              270            0              80
  45  ButterKnife     1.712          0.461          1.153          0              0              0              72
  46  Bread           -1.462         0.992          -1.707         0              0              0              74
  47  Tomato          -1.750         1.524          -0.269         0              90             0              97
  48  Potato          -1.796         0.066          1.329          0              270            0              88
  49  DishSponge      1.662          0.224          1.088          0              0              0              83
  50  Spoon           1.662          0.142          1.219          0              0              0              83
  51  Mug             1.355          0.955          -1.362         0              0              0              96
  52  Bowl            -1.151         0.111          -1.423         0              0              0              86
  53  Cabinet         -0.495         0.474          -1.149         0              0              0
  54  Window          -0.010         1.582          -1.821         0              0              0
  55  Drawer          0.805          0.475          -1.159         0              0              0
  56  StoveBurner     1.764          0.902          0.601          0              270            0
  57  Drawer          1.5            0.196          -0.019         0              0              0
  58  Drawer          1.5            0.629          -0.018         0              0              0
  59  Drawer          1.5            0.602          -0.019         0              270            0
  60  StoveBurner     1.975          0.902          0.384          0              270            0
  61  Cabinet         -1.703         2.022          -1.453         0              90             0
  62  Cabinet         1.789          2.019          -0.819         0              270            0
  63  Cabinet         0.494          0.474          -1.149         0              0              0
  64  Cabinet         0.409          0.475          0.444          0              0              0
  65  Drawer          -0.696         0.475          -1.159         0              0              0
  66  Drawer          1.5            0.140          0.599          0              270            0
  67  Cabinet         1.389          0.474          -1.149         0              0              0
  68  Drawer          1.5            0.305          0.600          0              0              0
  69  StoveBurner     1.975          0.902          0.601          0              270            0
  70  Drawer          1.5            0.429          -0.019         0              0              0
  71  StoveBurner     1.764          0.902          0.819          0              270            0
  72  Drawer          1.5            0.519          1.220          0              0              0
  73  Cabinet         1.705          2.019          -1.449         0              0              0
  74  CounterTop      0.002          0.947          -1.513         0              0              0
  75  Drawer          1.5            0.629          0.605          0              0              0
  76  Cabinet         -0.627         2.019          -1.449         0              0              0
  77  StoveBurner     1.764          0.902          0.384          0              270            0
  78  Drawer          1.5            0.538          0.600          0              0              0
  79  Sink            0.0            0.893          -1.434         0              0              0
  80  Drawer          1.5            0.782          1.220          0              270            0
  81  Window          2.217          1.565          -0.384         0              0              0
  82  CounterTop      -0.014         0.961          0.505          0              0              0
  83  Drawer          1.5            0.200          1.220          0              0              0
  84  StoveBurner     1.975          0.902          0.819          0              270            0
  85  Window          -3.240         1.616          2.693          0              270            0
  86  Cabinet         -1.389         0.474          -1.149         0              0              0
  87  LightSwitch     -0.153         1.291          3.700          0              180            0
  88  GarbageCan      -1.796         0.009          1.330          0              270            358.295
  89  StoveKnob       1.602          0.917          0.570          0              270            180
  90  StoveKnob       1.602          0.917          0.625          0              270            180
  91  StoveKnob       1.602          0.917          0.739          0              270            180
  92  StoveKnob       1.602          0.917          0.680          0              270            180
  93  StoveKnob       1.602          0.917          0.462          0              270            180
  94  StoveKnob       1.602          0.917          0.517          0              270            180
  95  Microwave       1.932          0.899          -0.766         0              270            0
  96  CoffeeMachine   1.355          0.899          -1.596         0              0              0
  97  Fridge          -1.764         0.0            0.014          0              90             0
  98  SinkBasin       -0.014         0.736          -1.435         0              0              0
  99  Toaster         1.977          0.900          -0.336         0              270            0
 100  Faucet          -0.020         1.137          -1.605         0              270            0
 101  Chair           -9.354         0.000          1.242          0              180            0
 102  NorthWall
 103  EastWall
 104  SouthWall
 105  WestWall

Plan:
STEP 1: Turn right and walk forward, then turn left to face the kitchen counter. | STEP 2: Pick  up the egg to the right of the kettle. | STEP 3: Turn around, step forward, then turn left and walk to the counter on the far side, turn left to face the microwave. | STEP 4: Open the microwave, place the egg to the left of the apple and turn on. Wait till the microwave is off and remove the egg. | STEP 5: Turn around, walk towards the fridge, turn right and go straight till you reach the trash can on the left. | STEP 6: Place the egg in the trash can. | END