Task: put two light brown balls in microwave

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.25          0.930          1.25           0              270            0
   1  DishSponge      0.716          0.907          0.135          0              36.810         0              93
   2  ButterKnife     -0.868         0.130          0.751          0              0              0              92
   3  ButterKnife     3.044          0.900          -0.798         0              0              0              61
   4  Kettle          -0.935         0.901          0.623          0              0              0              62
   5  Kettle          3.200          0.901          -0.599         0              0              0              61
   6  Spoon           0.336          0.901          -1.373         0              180            0              83
   7  Fork            0.967          0.911          0.747          0              0              0              93
   8  Mug             1.242          1.068          -1.475         0              0              0              108
   9  Apple           -1.018         1.071          1.258          0              90             0              110
  10  Lettuce         0.101          0.965          -1.445         0              0              0              83
  11  Lettuce         -0.862         0.965          0.176          0              0              0              62
  12  SaltShaker      2.947          0.708          0.896          0              180            0              84
  13  SaltShaker      3.198          0.172          -0.550         0              0              0              73
  14  Bowl            -0.862         0.897          -0.047         0              0              0              62
  15  Bowl            -0.987         0.897          -0.746         0              45             0              62
  16  Tomato          0.547          0.945          0.140          0              36.810         0              93
  17  Tomato          -0.702         0.937          -0.726         0              45             0              62
  18  Egg             0.063          0.952          -1.286         0              45             0              83
  19  Egg             1.164          0.766          -1.407         0              0              0              108
  20  Cup             1.112          1.672          -1.550         0              0              0              53
  21  Plate           3.084          0.190          0.700          0              0              0              71
  22  Knife           0.533          0.936          0.326          0              0              0              93
  23  Plate           0.710          0.923          0.527          0              0              0              93
  24  Glassbottle     2.907          1.465          -1.648         0              0              0              60
  25  SoapBottle      0.808          1.683          -1.689         0              0              0              77
  26  Potato          0.044          0.938          -1.677         0              45             0              83
  27  Fork            1.229          0.908          0.747          0              0              0              93
  28  Ladle           0.665          1.711          -1.410         0              270            0              77
  29  Pot             0.423          0.900          0.869          0              0              0              93
  30  Kettle          3.07           0.754          0.098          0              90             0              107
  31  Spatula         1.098          0.925          0.464          0              90             0              93
  32  Knife           -0.991         0.732          0.751          0              90             0              66
  33  Lettuce         1.360          0.973          0.747          0              0              0              93
  34  Cup             -0.985         0.995          1.417          0              90             0              110
  35  SaltShaker      2.988          0.709          -0.665         0              180            0              49
  36  Egg             0.851          1.300          -1.448         0              0              0              108
  37  PepperShaker    3.152          0.709          -0.361         0              180            0              58
  38  ButterKnife     -0.868         0.130          0.076          0              0              0              82
  39  Apple           1.008          1.321          -1.475         0              0              0              108
  40  Pan             -0.239         0.902          -1.089         0              315            0              91
  41  Bread           1.534          0.972          0.486          0              289.287        0              93
  42  CellPhone       -0.909         0.128          0.664          0              0              0              92
  43  DishSponge      3.084          0.175          -0.307         0              0              0              73
  44  Tomato          -0.058         0.937          -1.779         0              45             0              83
  45  Spoon           0.967          0.912          0.605          0              0              0              93
  46  Bowl            3.181          1.461          -1.599         0              0              0              60
  47  Mug             0.773          1.242          -1.503         0              0              0              108
  48  Drawer          0.376          0.572          -1.509         0              0              0
  49  Drawer          3.020          0.769          -0.783         0              180            0
  50  Drawer          -0.860         0.577          1.429          0              0              0
  51  StoveBurner     -0.600         0.897          -1.090         0              135            0
  52  Drawer          0.376          0.191          -1.509         0              0              0
  53  Cabinet         1.402          1.874          -1.259         0              0              0
  54  Cabinet         -0.202         1.963          -1.328         0              0              0
  55  Drawer          -0.860         0.765          1.429          0              0              0
  56  Drawer          -0.677         0.765          -0.700         0              0              0
  57  StoveBurner     -0.420         0.897          -0.920         0              135            0
  58  Drawer          3.020          0.769          -0.407         0              180            0
  59  Drawer          -0.860         0.577          0.663          0              0              0
  60  Cabinet         2.819          1.768          -1.850         0              0              0
  61  CounterTop      3.111          0.936          0.019          0              0              0
  62  CounterTop      -1.007         0.935          -0.039         0              0              0
  63  Drawer          -0.860         0.385          0.663          0              0              0
  64  StoveBurner     -0.419         0.897          -1.269         0              315            0
  65  Drawer          -0.047         0.573          -1.324         0              0              0
  66  Drawer          -0.860         0.765          0.663          0              0              0
  67  Drawer          -0.860         0.385          -0.100         0              0              0
  68  Drawer          0.376          0.380          -1.509         0              0              0
  69  Drawer          -0.860         0.765          -0.100         0              0              0
  70  Drawer          0.376          0.765          -1.509         0              0              0
  71  Cabinet         2.849          0.419          0.409          0              0              0
  72  Drawer          -0.047         0.765          -1.324         0              0              0
  73  Cabinet         2.849          0.419          -0.610         0              0              0
  74  Cabinet         2.849          0.419          -0.959         0              0              0
  75  Cabinet         3.069          1.666          -0.709         0              0              0
  76  Cabinet         2.819          1.768          -1.047         0              0              0
  77  Cabinet         0.620          1.874          -1.259         0              0              0
  78  Cabinet         0.140          1.666          -1.559         0              0              0
  79  Cabinet         -0.189         1.666          -1.340         0              0              0
  80  Cabinet         -0.709         1.963          -0.819         0              0              0
  81  Cabinet         -0.920         1.665          -0.620         0              0              0
  82  Drawer          -0.860         0.190          -0.100         0              0              0
  83  CounterTop      0.133          0.935          -1.457         0              0              0
  84  Drawer          3.020          0.769          0.695          0              180            0
  85  Drawer          -0.677         0.577          -0.700         0              0              0
  86  Drawer          -0.860         0.190          1.429          0              0              0
  87  Drawer          -0.047         0.192          -1.324         0              0              0
  88  Drawer          -0.677         0.193          -0.700         0              0              0
  89  Drawer          -0.860         0.577          -0.100         0              0              0
  90  Sink            3.078          0.887          0.086          0              0              0
  91  StoveBurner     -0.239         0.897          -1.089         0              315            0
  92  Drawer          -0.860         0.190          0.663          0              0              0
  93  CounterTop      1.210          0.937          0.463          0              0              0
  94  Drawer          -0.047         0.381          -1.324         0              0              0
  95  Drawer          -0.677         0.387          -0.700         0              0              0
  96  Mirror          -1.295         1.630          0.045          0              0              0
  97  Drawer          -0.860         0.385          1.429          0              0              0
  98  HousePlant      3.196          0.891          -0.368         0              0              0
  99  StoveKnob       -0.090         0.790          -1.009         270            45             0
 100  StoveKnob       -0.280         0.790          -0.819         270            45             0
 101  StoveKnob       -0.180         0.790          -0.920         270            45             0
 102  StoveKnob       -0.370         0.790          -0.720         270            45             0
 103  GarbageCan      3.137          0.025          1.545          0              225            0
 104  Window          3.703          1.675          0.046          90             90             0
 105  CoffeeMachine   3.214          0.890          0.697          0              270            0
 106  LightSwitch     2.592          1.309          -1.880         0              0              0
 107  SinkBasin       3.069          0.736          0.108          0              90             0
 108  Fridge          1.008          0.029          -1.467         0              0              0
 109  Toaster         -1.035         0.873          -0.396         0              90             0
 110  Microwave       -1.034         0.874          1.428          0              90             0
 111  Faucet          3.305          0.886          0.094          270            180            0
 112  NorthWall
 113  EastWall
 114  SouthWall
 115  WestWall

Plan:
STEP 1: turn left, walk along the kitchen to the counter between the fridge and stove, turn right and face counter | STEP 2: pick up the light brown ball closest to the front edge of the counter | STEP 3: turn right, walk along kitchen to microwave, turn left to face microwave | STEP 4: open microwave door, put ball inside on the right of all the objects, close the door | STEP 5: turn left, walk along kitchen to counter between fridge and stove, turn right, face counter | STEP 6: open fridge door, take out light brown ball on fridge shelf, close fridge door | STEP 7: turn right, walk along kitchen to microwave, turn left to face microwave | STEP 8: open microwave door, place ball behind other objects in microwave, close door | END