Task: put a plate and an egg on a kitchen 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           0.901          -1.75          0              0              0
   1  Pan             -0.165         0.975          -2.450         0              0              0              81
   2  Potato          -1.707         0.834          -3.832         0              0              0              91
   3  DishSponge      -0.128         1.867          -2.472         0              0              0              68
   4  ButterKnife     -0.412         0.913          -3.012         0              0              0              49
   5  ButterKnife     -2.803         0.717          -0.069         0              90             0              93
   6  Spatula         -2.629         0.928          -3.878         0              90             0              49
   7  Spoon           -3.155         0.714          -0.608         0              225            0              93
   8  Egg             -3.150         0.752          -0.558         0              270            0              93
   9  Egg             -2.581         0.749          -0.683         0              270            0              93
  10  Egg             -0.220         1.032          -0.999         0              270            0              86
  11  Cup             -2.431         0.717          -0.665         0              135            0              93
  12  Plate           -3.130         1.397          -2.002         0              90             0              90
  13  Plate           -1.115         0.078          -3.673         0              0              0              64
  14  Plate           -0.413         0.078          -0.838         0              0              0              53
  15  Knife           -0.338         0.948          -1.432         0              0              0              76
  16  Knife           -0.338         0.948          -0.524         0              0              0              76
  17  Tomato          -1.914         0.840          -3.790         0              0              0              91
  18  SoapBottle      -3.477         0.913          -3.126         0              0              0              49
  19  SoapBottle      -2.740         0.713          -0.211         0              0              0              93
  20  Bowl            -2.978         0.714          -0.785         0              225            0              93
  21  SaltShaker      -3.140         0.742          -2.968         0              0              0              71
  22  SaltShaker      -0.384         0.742          -3.406         0              0              0              77
  23  PepperShaker    -0.176         0.912          -1.309         0              0              0              76
  24  Lettuce         -2.652         0.801          -0.886         0              135            0              93
  25  Bread           -3.130         0.682          -2.002         0              90             0              90
  26  Bread           -2.676         0.757          -0.508         0              135            0              93
  27  Mug             -0.179         1.863          -2.052         0              180            0              67
  28  Pot             -0.165         0.975          -2.030         0              180            0              80
  29  Egg             -3.167         0.749          -0.797         0              225            0              93
  30  Cup             -0.419         0.916          -1.616         0              0              0              76
  31  Bread           -0.327         0.948          -3.681         0              298.222        0              49
  32  Fork            -2.449         0.914          -3.952         0              0              0              49
  33  Pan             -2.808         0.912          -3.878         0              90             0              49
  34  Potato          -0.127         1.056          -0.851         0              270            0              86
  35  Lettuce         -0.854         1.001          -3.878         0              0              0              49
  36  Tomato          -3.292         0.766          -0.620         0              270            0              93
  37  Apple           -0.314         0.122          -0.115         0              270            0              88
  38  SoapBottle      -0.496         0.913          -2.911         0              0              0              49
  39  Spatula         -0.095         0.930          -1.555         0              0              0              76
  40  SaltShaker      -0.382         0.742          -1.408         0              0              0              72
  41  Knife           -1.551         0.946          -3.519         0              0              0              49
  42  PepperShaker    -0.412         0.742          -1.563         0              0              0              72
  43  ButterKnife     -2.708         0.713          -0.741         0              135            0              93
  44  Plate           -0.373         0.079          -3.024         0              0              0              60
  45  DishSponge      -2.809         0.713          -0.640         0              135            0              93
  46  Spoon           -3.140         0.914          -2.825         0              0              0              49
  47  Mug             -2.930         0.762          -0.358         0              135            0              89
  48  Bowl            -0.374         0.078          -1.414         0              0              0              54
  49  CounterTop      -1.789         0.949          -3.803         0              0              0
  50  Cabinet         -0.577         0.388          -3.476         0              0              0
  51  Cabinet         -0.605         0.388          -3.511         0              0              0
  52  Cabinet         -2.976         0.388          -3.201         0              0              0
  53  Cabinet         -0.577         0.388          -0.447         0              0              0
  54  Cabinet         -0.577         0.388          -1.725         0              0              0
  55  Cabinet         -0.226         1.803          -1.743         0              0              0
  56  Cabinet         -0.228         1.799          -0.447         0              0              0
  57  Cabinet         -6.010         1.139          -6.019         0              0              0
  58  Cabinet         -3.022         2.098          -2.681         0              0              0
  59  Cabinet         -3.022         2.098          -1.743         0              0              0
  60  Cabinet         -0.577         0.388          -2.736         0              0              0
  61  Cabinet         -3.232         1.803          -3.343         0              0              0
  62  Cabinet         -2.811         1.810          -3.764         0              0              0
  63  Cabinet         -1.233         1.810          -3.764         0              0              0
  64  Cabinet         -1.364         0.388          -3.511         0              0              0
  65  Cabinet         -1.380         0.388          -3.511         0              0              0
  66  Cabinet         -0.226         1.803          -2.725         0              0              0
  67  Cabinet         -0.236         2.098          -1.767         0              0              0
  68  Cabinet         -0.236         2.098          -2.705         0              0              0
  69  Cabinet         -0.193         1.210          -4.239         0              0              0
  70  Cabinet         -2.148         0.388          -3.511         0              0              0
  71  Drawer          -3.104         0.797          -2.968         0              0              0
  72  Drawer          -0.449         0.797          -1.410         0              0              0
  73  Sink            -1.786         0.902          -3.748         0              0              0
  74  StoveBurner     -0.376         0.936          -2.451         0              0              0
  75  Drawer          -0.449         0.797          -0.762         0              0              0
  76  CounterTop      -0.268         0.951          -1.089         0              0              0
  77  Drawer          -0.449         0.797          -3.348         0              0              0
  78  StoveBurner     -0.376         0.936          -2.031         0              180            0
  79  Drawer          -0.449         0.797          -2.968         0              0              0
  80  StoveBurner     -0.165         0.936          -2.030         0              180            0
  81  StoveBurner     -0.165         0.936          -2.450         0              0              0
  82  StoveKnob       -0.568         0.903          -2.313         45             270            0
  83  StoveKnob       -0.568         0.903          -2.470         45             270            0
  84  StoveKnob       -0.568         0.903          -2.166         45             270            0
  85  StoveKnob       -0.568         0.903          -2.003         45             270            0
  86  Microwave       -0.143         0.903          -0.908         0              270            0
  87  LightSwitch     -1.108         1.457          0.338          0              180            0
  88  GarbageCan      -0.283         -0.032         -0.035         0              270            0
  89  CoffeeMachine   -3.104         0.837          -0.185         0              135            0
  90  Fridge          -3.188         0.0            -2.184         0              0              0
  91  SinkBasin       -1.786         0.779          -3.747         0              0              0
  92  Toaster         -0.230         0.903          -3.406         0              270            0
  93  DiningTable     -2.800         0.003          -0.505         0              0              0
  94  Chair           -3.044         0.003          -1.223         0              32.194         0
  95  Faucet          -1.791         1.136          -3.913         0              270            0
  96  NorthWall
  97  EastWall
  98  SouthWall
  99  WestWall

Plan:
STEP 1: walk to face the microwave oven | STEP 2: open the door, pick up the egg inside the microwave, close the door | STEP 3: walk right to face the counter to the left of the sink with lettuce  | STEP 4: open the right cabinet door below the counter, put egg on the grey plate | STEP 5: pick up the grey plate from the cabinet, close the door | STEP 6: turn right to face the sink from the left side | STEP 7: put the plate on the counter to the right of the sink | END