Task: keep a wished orange in the fridge

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          -0.75          0              0              0
   1  ButterKnife     -0.282         0.937          2.827          0              0              0              51
   2  Pot             1.156          0.081          2.523          0              270            0              57
   3  Spoon           1.815          0.746          1.922          0              90             0              66
   4  Spoon           1.954          0.747          2.197          0              0              0              66
   5  Egg             2.223          1.365          -0.188         0              270            0              72
   6  Egg             -0.358         0.079          -0.864         0              90             0              73
   7  Cup             -0.294         1.034          2.068          0              90             0              76
   8  Knife           -0.068         0.772          2.197          0              270            0              50
   9  SoapBottle      -0.295         0.038          -0.769         0              90             0              73
  10  SoapBottle      -0.042         0.791          1.049          0              0              0              78
  11  SaltShaker      0.033          0.780          0.713          0              0              0              78
  12  PepperShaker    0.060          0.932          2.827          0              0              0              51
  13  PepperShaker    2.203          1.498          0.665          0              0              0              59
  14  Lettuce         2.127          1.580          -0.278         0              270            0              72
  15  Lettuce         -0.196         0.852          1.217          0              0              0              78
  16  Mug             0.788          0.790          2.584          0              90             0              75
  17  Mug             2.064          0.989          2.462          0              225            0              77
  18  Apple           1.986          0.388          -0.550         0              270            0              72
  19  Apple           -0.294         1.085          1.961          0              90             0              76
  20  Egg             1.118          0.837          2.529          0              0              0              75
  21  Lettuce         2.112          1.385          -0.460         0              270            0              72
  22  Fork            -0.272         0.791          1.217          0              0              0              78
  23  SoapBottle      -0.042         0.782          0.881          0              0              0              78
  24  Ladle           -0.042         0.835          1.386          0              0              0              78
  25  Ladle           -0.096         0.942          2.546          6.888          45             340.409        51
  26  Bread           -0.203         0.830          0.814          2.758          0              0              78
  27  SaltShaker      -0.042         0.785          0.545          0              0              0              78
  28  Potato          -0.425         0.831          0.881          0              0              0              78
  29  Pan             2.140          0.935          1.504          0              180            0              46
  30  WineBottle      2.165          1.504          0.785          0              0              0              59
  31  Spatula         0.037          0.761          2.129          0              270            0              50
  32  Knife           1.941          0.771          0.446          0              90             0              60
  33  Tomato          2.207          0.648          -0.369         0              270            0              72
  34  Apple           -0.196         0.840          1.386          0              0              0              78
  35  ButterKnife     -0.272         0.791          1.386          0              0              0              78
  36  Pot             0.708          0.081          2.523          0              90             0              58
  37  PepperShaker    1.673          0.932          2.821          0              0              0              51
  38  Cup             2.137          0.859          -0.460         0              270            0              72
  39  DishSponge      1.790          0.937          2.898          0              0              0              51
  40  Plate           1.925          0.086          2.128          0              0              0              47
  41  Spoon           -0.041         0.785          0.713          4.255          0              353.446        78
  42  Mug             2.227          0.932          2.260          0              0              0              51
  43  Bowl            1.223          0.792          2.695          0              0              0              75
  44  Cabinet         2.041          2.113          2.618          0              0              0
  45  Cabinet         0.126          0.388          1.774          0              0              0
  46  StoveBurner     2.140          0.929          1.504          0              180            0
  47  Cabinet         1.760          0.388          2.346          0              0              0
  48  Cabinet         1.760          0.388          0.869          0              0              0
  49  Cabinet         2.041          1.810          0.283          0              0              0
  50  Drawer          -0.024         0.774          2.061          0              0              0
  51  CounterTop      1.065          0.973          2.666          0              0              0
  52  Cabinet         1.969          2.113          2.618          0              0              0
  53  StoveBurner     2.140          0.929          1.106          0              0              0
  54  Cabinet         2.041          2.113          1.809          0              0              0
  55  StoveBurner     1.866          0.929          1.504          0              180            0
  56  Cabinet         2.041          2.113          1.766          0              0              0
  57  Cabinet         1.514          0.388          2.360          0              0              0
  58  Cabinet         0.351          0.388          2.360          0              0              0
  59  Cabinet         2.041          1.810          0.872          0              0              0
  60  Drawer          2.167          0.774          0.582          0              0              0
  61  Cabinet         2.041          2.113          0.892          0              0              0
  62  CounterTop      2.060          0.973          0.583          0              0              0
  63  Sink            0.935          0.936          2.646          0              0              0
  64  Curtains        0.964          2.061          2.989          0              0              0
  65  StoveBurner     1.863          0.929          1.106          0              0              0
  66  Drawer          1.911          0.774          2.060          0              0              0
  67  StoveKnob       2.326          1.092          1.610          288.013        90             0
  68  StoveKnob       2.326          1.092          1.460          288.013        90             0
  69  StoveKnob       2.326          1.092          1.210          288.013        90             0
  70  StoveKnob       2.326          1.092          1.050          288.013        90             0
  71  Toaster         2.126          0.926          0.572          0              270            0
  72  Fridge          2.104          0.0            -0.279         0              270            0
  73  GarbageCan      -0.309         -0.001         -0.807         0              91.471         0
  74  LightSwitch     0.354          1.518          -1.031         0              0              0
  75  SinkBasin       0.903          0.784          2.640          0              0              0
  76  Microwave       -0.310         0.926          2.077          0              90             0
  77  CoffeeMachine   2.084          0.927          2.667          0              225            0
  78  DiningTable     -0.153         -0.000         1.073          0              270            0
  79  Faucet          1.175          0.926          2.950          270            90             0
  80  Faucet          0.686          0.926          2.950          270            90             0
  81  Chair           -0.077         0.002          0.196          0              15.000         0
  82  NorthWall
  83  EastWall
  84  SouthWall
  85  WestWall

Plan:
STEP 1: move forward towards the sink, turn left and move towards the microwave oven | STEP 2: open the oven and take out the orange from the microwave oven | STEP 3: turn right and head towards the right sink | STEP 4: drop the orange in the right sink rinse it and pick it up from the sink | STEP 5: turn around and move towards the door then turn left | STEP 6: open the fridge and drop the orange in the fridge | END