Task: Removing an orange from the sink for cooling and throwing away.

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           0.899          2.25           0              180            0
   1  Pan             -2.469         0.930          1.712          0              270            0              91
   2  Pencil          -2.015         0.747          1.985          0              0              0              74
   3  Pencil          -4.095         0.747          4.660          0              90             0              83
   4  Potato          -0.342         1.719          3.854          0              270            0              109
   5  Potato          -1.693         0.956          1.951          0              0              0              58
   6  DishSponge      -4.377         0.923          1.648          0              0              0              76
   7  ButterKnife     -4.242         0.923          2.766          0              0              0              76
   8  ButterKnife     -1.943         0.923          1.648          0              270            0              58
   9  Spoon           -4.233         0.792          3.222          0              270            0              108
  10  Spoon           -2.026         0.924          1.648          0              270            0              58
  11  Cup             -4.271         0.789          3.347          0              270            0              108
  12  Plate           -3.163         0.080          5.193          0              90             0              54
  13  Plate           -0.342         1.336          3.479          0              270            0              109
  14  Knife           -0.258         0.954          5.603          0              0              0              61
  15  Tomato          -0.411         0.982          5.603          0              0              0              61
  16  Bowl            -0.334         0.922          4.944          0              0              0              61
  17  Bowl            -0.301         1.577          3.470          0              270            0              109
  18  SaltShaker      -4.102         0.919          2.183          0              0              0              76
  19  PepperShaker    -3.733         0.919          5.106          0              90             0              76
  20  Lettuce         -3.748         0.164          6.292          0              270            0              102
  21  Lettuce         -0.301         1.431          3.231          0              270            0              109
  22  Bread           -2.026         1.003          1.875          0              0              0              58
  23  Bread           -0.295         1.150          3.726          0              270            0              109
  24  Apple           -4.159         0.844          3.410          0              270            0              108
  25  Apple           -0.383         1.739          4.035          0              270            0              109
  26  Egg             -4.084         0.826          3.285          0              270            0              108
  27  Apple           -2.740         1.599          1.666          0              0              0              106
  28  Knife           -1.610         0.953          1.724          0              90             0              58
  29  Potato          -0.348         1.104          3.479          0              270            0              109
  30  Fork            -4.242         0.924          2.183          0              0              0              76
  31  Bowl            -0.259         1.332          3.850          0              270            0              109
  32  Plate           -1.934         0.082          1.971          0              0              0              92
  33  Lettuce         -1.693         1.018          1.8            0              0              0              58
  34  Bread           -0.565         1.004          4.944          0              0              0              61
  35  Tomato          -0.565         0.982          6.261          0              0              0              61
  36  WineBottle      -4.047         0.085          2.776          0              0              0              68
  37  Spatula         -1.777         0.938          2.026          0              0              0              58
  38  PaperTowelRoll  -3.639         0.172          6.416          0              270            0              102
  39  Cup             -2.530         1.545          1.633          0              0              0              106
  40  Pencil          -1.860         0.923          1.648          0              0              0              74
  41  Pan             -2.924         0.930          2.012          0              0              0              59
  42  Pot             -0.396         0.912          5.933          0              0              0              61
  43  SaltShaker      -2.093         0.742          1.985          0              0              0              74
  44  SoapBottle      -2.133         1.452          1.605          0              0              0              95
  45  PepperShaker    -1.610         0.919          2.026          0              0              0              58
  46  ButterKnife     -1.777         0.923          1.8            0              0              0              58
  47  DishSponge      -4.159         0.790          3.159          0              270            0              108
  48  Spoon           -4.249         0.756          2.679          0              90             0              56
  49  Mug             -4.067         0.075          3.556          0              0              0              81
  50  Cabinet         -3.203         1.931          1.777          0              0              0
  51  Cabinet         -3.187         0.390          2.089          0              0              0
  52  Cabinet         -0.637         0.387          6.882          0              180            0
  53  Drawer          -3.797         0.781          1.961          0              0              0
  54  Cabinet         -3.036         0.387          5.029          0              90             0
  55  Drawer          -0.509         0.775          5.268          0              270            0
  56  Drawer          -4.125         0.798          2.499          0              0              0
  57  Cabinet         -0.331         2.249          4.308          0              180            0
  58  CounterTop      -1.872         0.958          1.799          0              0              0
  59  StoveBurner     -2.924         0.924          2.012          0              0              0
  60  Cabinet         -0.331         2.249          6.806          0              180            0
  61  CounterTop      -0.345         0.960          5.603          0              0              0
  62  Cabinet         -3.039         1.935          5.321          0              90             0
  63  Cabinet         -3.922         0.397          2.088          0              0              0
  64  StoveBurner     -2.467         0.924          2.012          0              0              0
  65  Cabinet         -0.331         2.249          5.505          0              180            0
  66  Drawer          -0.509         0.775          4.617          0              270            0
  67  Drawer          -3.509         0.777          5.157          0              180            0
  68  Cabinet         -3.961         0.388          2.878          0              0              0
  69  Cabinet         -3.961         0.388          4.342          0              0              0
  70  Cabinet         -0.637         0.387          5.582          0              180            0
  71  Cabinet         -0.637         0.388          4.299          0              180            0
  72  Cabinet         -0.637         0.388          5.599          0              180            0
  73  StoveBurner     -2.924         0.924          1.712          0              180            0
  74  Drawer          -1.859         0.775          1.961          0              0              0
  75  Cabinet         -0.331         2.249          5.609          0              180            0
  76  CounterTop      -4.260         0.958          4.943          0              90             0
  77  Cabinet         -4.284         1.931          2.226          0              0              0
  78  Cabinet         -0.331         2.249          3.010          0              180            0
  79  Drawer          -3.801         0.777          5.157          0              180            0
  80  Cabinet         -4.112         1.935          5.321          0              90             0
  81  Cabinet         -3.968         0.388          3.662          0              0              0
  82  Drawer          -3.418         0.777          1.961          0              0              0
  83  Drawer          -4.090         0.777          4.661          0              90             0
  84  Faucet          -4.441         0.909          3.288          270            0              0
  85  Cabinet         -0.331         2.249          4.207          0              180            0
  86  Cabinet         -3.961         0.388          2.119          0              0              0
  87  Drawer          -0.509         0.775          5.920          0              270            0
  88  Drawer          -3.193         0.777          5.157          0              180            0
  89  Cabinet         -3.968         0.388          2.894          0              0              0
  90  Cabinet         -3.667         0.387          5.029          0              90             0
  91  StoveBurner     -2.469         0.924          1.712          0              270            0
  92  Cabinet         -1.539         0.388          2.090          0              0              0
  93  Sink            -4.190         0.921          3.279          0              0              0
  94  Cabinet         -3.641         0.387          5.029          0              90             0
  95  Cabinet         -1.583         1.931          1.777          0              0              0
  96  Drawer          -0.509         0.775          6.568          0              270            0
  97  CoffeeMachine   -0.279         0.912          6.556          0              270            0
  98  StoveKnob       -2.347         1.095          1.560          288.012        180            180
  99  StoveKnob       -2.788         1.095          1.560          288.012        180            180
 100  StoveKnob       -2.965         1.095          1.560          288.012        180            180
 101  StoveKnob       -2.512         1.095          1.560          288.012        180            180
 102  GarbageCan      -3.711         -0.030         6.376          0              270            0
 103  Toaster         -3.578         0.912          1.763          0              0              0
 104  Curtains        -4.522         2.252          3.391          90             90             0
 105  Window          -4.868         1.629          3.309          90             270            0
 106  Microwave       -2.693         1.430          1.689          0              0              0
 107  LightSwitch     -1.588         1.169          1.506          0              0              0
 108  SinkBasin       -4.196         0.780          3.276          0              270            0
 109  Fridge          -0.324         -0.001         3.602          0              0              0
 110  NorthWall
 111  EastWall
 112  SouthWall
 113  WestWall

Plan:
STEP 1: Turn around, then make a left to go to the kitchen sink. | STEP 2: Pick up the orange next to the sponge. | STEP 3: Go to the fridge on the wall opposite the sink.  | STEP 4: Open the fridge and place the orange with the other oranges, close the door, and then open it again to take out the orange you just put inside. | STEP 5: Turn to the left until you reach the wall, then go straight to the waste bin. | STEP 6: Throw the orange in the waste bin. | END