Task: take the egg out of microwave, wash the egg, put it 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           1.5            0.930          -1.0           0              0              0
   1  Potato          1.008          0.751          -1.459         0              0              0              106
   2  Ladle           3.070          0.749          0.829          0              270            0              82
   3  DishSponge      -0.827         0.517          1.605          0              0              0              48
   4  DishSponge      -0.717         0.899          -0.047         0              0              0              67
   5  Kettle          -0.600         0.902          -1.090         0              135            0              49
   6  Kettle          0.808          1.675          -1.689         0              0              0              75
   7  Fork            -0.868         0.327          0.839          0              0              0              61
   8  Mug             3.049          0.966          0.591          0              270            0              103
   9  Mug             0.497          0.903          0.421          0              126.810        0              91
  10  Apple           0.929          1.321          -1.503         0              0              0              106
  11  Apple           0.710          0.984          0.627          0              0              0              91
  12  Bread           3.122          0.979          -0.698         0              0              0              59
  13  Lettuce         -1.015         0.965          -0.719         0              45             0              60
  14  Lettuce         -1.008         0.965          0.176          0              0              0              60
  15  PepperShaker    -0.756         0.896          -0.672         0              45             0              60
  16  SoapBottle      0.839          0.917          0.530          0              36.810         0              91
  17  Tomato          3.074          0.137          1.600          0              225            0              101
  18  Tomato          1.164          0.748          -1.381         0              0              0              106
  19  Cup             -1.153         0.898          0.399          0              0              0              60
  20  Knife           -0.991         0.156          0.664          0              90             0              90
  21  Plate           3.084          0.190          0.700          0              0              0              69
  22  Glassbottle     0.710          0.911          0.326          0              0              0              91
  23  SoapBottle      3.246          1.273          -0.917         0              0              0              73
  24  Potato          -1.085         1.036          1.258          0              0              0              108
  25  Fork            -0.748         0.900          -0.881         0              135            0              60
  26  Ladle           0.054          0.937          -1.481         0              45             0              81
  27  Pot             -0.239         0.902          -1.089         0              315            0              89
  28  Kettle          3.070          0.748          0.231          0              90             0              105
  29  Spatula         -0.786         0.341          1.168          0              90             0              95
  30  Knife           0.710          0.936          0.727          0              0              0              91
  31  Lettuce         0.356          0.973          0.426          0              0              0              91
  32  Cup             1.086          1.245          -1.503         0              0              0              106
  33  SaltShaker      -0.950         0.514          0.926          0              0              0              57
  34  Egg             -1.052         1.050          1.523          0              90             0              108
  35  PepperShaker    0.856          1.671          -1.480         0              0              0              75
  36  ButterKnife     0.533          0.908          0.627          0              0              0              91
  37  Apple           -1.018         1.071          1.364          0              90             0              108
  38  Pan             0.341          0.873          -1.649         0              167.065        0              81
  39  Bread           1.534          0.972          0.486          0              289.287        0              91
  40  CellPhone       0.002          0.897          -1.533         0              45             0              81
  41  DishSponge      3.335          0.900          -0.151         0              0              0              59
  42  Tomato          0.889          0.947          0.249          0              36.810         0              91
  43  Spoon           -0.661         0.135          -0.777         0              135            0              86
  44  Bowl            1.229          0.908          0.464          0              0              0              91
  45  Mug             2.966          0.895          -0.897         0              0              0              59
  46  Drawer          0.376          0.572          -1.509         0              0              0
  47  Drawer          3.020          0.769          -0.783         0              180            0
  48  Drawer          -0.860         0.577          1.429          0              0              0
  49  StoveBurner     -0.600         0.897          -1.090         0              135            0
  50  Drawer          0.376          0.191          -1.509         0              0              0
  51  Cabinet         1.402          1.874          -1.259         0              0              0
  52  Cabinet         -0.202         1.963          -1.328         0              0              0
  53  Drawer          -0.860         0.765          1.429          0              0              0
  54  Drawer          -0.677         0.765          -0.700         0              0              0
  55  StoveBurner     -0.420         0.897          -0.920         0              135            0
  56  Drawer          3.020          0.769          -0.407         0              180            0
  57  Drawer          -0.860         0.577          0.663          0              0              0
  58  Cabinet         2.819          1.768          -1.850         0              0              0
  59  CounterTop      3.111          0.936          0.019          0              0              0
  60  CounterTop      -1.007         0.935          -0.039         0              0              0
  61  Drawer          -0.860         0.385          0.663          0              0              0
  62  StoveBurner     -0.419         0.897          -1.269         0              315            0
  63  Drawer          -0.047         0.573          -1.324         0              0              0
  64  Drawer          -0.860         0.765          0.663          0              0              0
  65  Drawer          -0.860         0.385          -0.100         0              0              0
  66  Drawer          0.376          0.380          -1.509         0              0              0
  67  Drawer          -0.860         0.765          -0.100         0              0              0
  68  Drawer          0.376          0.765          -1.509         0              0              0
  69  Cabinet         2.849          0.419          0.409          0              0              0
  70  Drawer          -0.047         0.765          -1.324         0              0              0
  71  Cabinet         2.849          0.419          -0.610         0              0              0
  72  Cabinet         2.849          0.419          -0.959         0              0              0
  73  Cabinet         3.069          1.666          -0.709         0              0              0
  74  Cabinet         2.819          1.768          -1.047         0              0              0
  75  Cabinet         0.620          1.874          -1.259         0              0              0
  76  Cabinet         0.140          1.666          -1.559         0              0              0
  77  Cabinet         -0.189         1.666          -1.340         0              0              0
  78  Cabinet         -0.709         1.963          -0.819         0              0              0
  79  Cabinet         -0.920         1.665          -0.620         0              0              0
  80  Drawer          -0.860         0.190          -0.100         0              0              0
  81  CounterTop      0.133          0.935          -1.457         0              0              0
  82  Drawer          3.020          0.769          0.695          0              180            0
  83  Drawer          -0.677         0.577          -0.700         0              0              0
  84  Drawer          -0.860         0.190          1.429          0              0              0
  85  Drawer          -0.047         0.192          -1.324         0              0              0
  86  Drawer          -0.677         0.193          -0.700         0              0              0
  87  Drawer          -0.860         0.577          -0.100         0              0              0
  88  Sink            3.078          0.887          0.086          0              0              0
  89  StoveBurner     -0.239         0.897          -1.089         0              315            0
  90  Drawer          -0.860         0.190          0.663          0              0              0
  91  CounterTop      1.210          0.937          0.463          0              0              0
  92  Drawer          -0.047         0.381          -1.324         0              0              0
  93  Drawer          -0.677         0.387          -0.700         0              0              0
  94  Mirror          -1.295         1.630          0.045          0              0              0
  95  Drawer          -0.860         0.385          1.429          0              0              0
  96  HousePlant      3.196          0.891          -0.368         0              0              0
  97  StoveKnob       -0.090         0.790          -1.009         270            45             0
  98  StoveKnob       -0.280         0.790          -0.819         270            45             0
  99  StoveKnob       -0.180         0.790          -0.920         270            45             0
 100  StoveKnob       -0.370         0.790          -0.720         270            45             0
 101  GarbageCan      3.137          0.025          1.545          0              225            0
 102  Window          3.703          1.675          0.046          90             90             0
 103  CoffeeMachine   3.214          0.890          0.697          0              270            0
 104  LightSwitch     2.592          1.309          -1.880         0              0              0
 105  SinkBasin       3.069          0.736          0.108          0              90             0
 106  Fridge          1.008          0.029          -1.467         0              0              0
 107  Toaster         -1.035         0.873          -0.396         0              90             0
 108  Microwave       -1.034         0.874          1.428          0              90             0
 109  Faucet          3.305          0.886          0.094          270            180            0
 110  NorthWall
 111  EastWall
 112  SouthWall
 113  WestWall

Plan:
STEP 1: turn left, walk around the kitchen to the microwave | STEP 2: open the microwave, take the egg out of the microwave, close the microwave | STEP 3: turn around, walk to the sink | STEP 4: put the egg in the sink, wash the egg with water, take the egg out | STEP 5: walk to the right a little  | STEP 6: put the egg down on the counter | END