Task: Rinse a tomato and place 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           -0.25          1.124          1.25           0              270            0
   1  Pan             1.053          0.344          -1.854         0              90             0              49
   2  Potato          1.246          1.350          0.965          0              270            0              75
   3  DishSponge      -1.614         0.343          1.007          0              0              0              51
   4  Kettle          -1.886         0.344          1.420          0              0              0              51
   5  Kettle          -1.681         0.344          0.211          0              90             0              48
   6  Fork            -1.603         0.420          -1.152         0              0              0              56
   7  Spatula         -2.049         1.337          1.744          0              0              0              50
   8  Spatula         -1.165         1.337          -3.314         0              0              0              50
   9  Pot             0.896          1.329          -2.053         0              0              0              50
  10  Egg             1.110          1.248          1.238          0              0              0              75
  11  SoapBottle      -1.602         0.344          -1.763         0              0              0              46
  12  Tomato          1.056          1.791          2.112          0              270            0              63
  13  Tomato          -1.381         1.356          -1.035         0              0              0              50
  14  Bowl            0.824          0.343          -2.267         0              180            0              49
  15  SaltShaker      -1.920         1.318          -2.981         0              0              0              50
  16  PepperShaker    1.193          1.202          1.254          0              0              0              75
  17  PepperShaker    -1.530         1.318          1.744          0              0              0              50
  18  Lettuce         -1.826         1.409          -1.255         0              0              0              57
  19  Mug             -1.817         0.338          0.613          0              0              0              48
  20  Apple           -1.634         0.329          2.193          0              270            0              65
  21  Apple           1.181          1.359          0.810          0              270            0              75
  22  Bread           -1.790         1.397          0.445          0              0              0              50
  23  Pot             -0.630         1.331          -3.301         0              180            0              47
  24  Knife           -1.920         1.352          1.744          0              0              0              50
  25  Bowl            -1.660         1.321          1.744          0              0              0              50
  26  Potato          -2.179         1.362          0.770          0              0              0              50
  27  SoapBottle      -1.826         1.333          -0.980         0              0              0              57
  28  Fork            -1.915         1.336          -0.911         0              0              0              57
  29  Cup             -2.004         1.334          -1.049         0              0              0              57
  30  Kettle          -1.884         0.344          0.311          0              0              0              48
  31  Egg             -2.093         1.375          -1.255         0              0              0              57
  32  Pan             -1.165         1.322          -2.870         0              90             0              50
  33  SaltShaker      1.027          1.202          1.238          0              0              0              75
  34  WineBottle      -2.049         1.323          2.069          0              0              0              50
  35  Lettuce         1.017          1.751          1.722          0              270            0              63
  36  Spatula         1.155          1.337          -2.424         0              0              0              50
  37  PaperTowelRoll  -1.660         1.427          1.094          0              0              0              50
  38  Tomato          0.911          2.062          2.111          0              270            0              63
  39  Plate           -1.789         0.344          -1.963         0              0              0              46
  40  PepperShaker    1.053          0.339          -2.267         0              180            0              49
  41  DishSponge      -1.730         0.422          -1.283         0              0              0              56
  42  Spoon           -2.018         1.053          -0.542         0              90             0              68
  43  Apple           0.492          1.371          -3.232         0              0              0              50
  44  Mug             0.920          1.519          1.539          0              270            0              63
  45  StoveBurner     -0.239         1.325          -3.301         0              180            0
  46  Cabinet         -1.461         0.775          -2.002         0              0              0
  47  StoveBurner     -0.630         1.325          -3.301         0              180            0
  48  Cabinet         -1.461         0.775          0.470          0              0              0
  49  Cabinet         0.578          0.776          -2.054         0              0              0
  50  CounterTop      -1.809         1.358          1.182          0              0              0
  51  Cabinet         -1.461         0.775          1.310          0              0              0
  52  Faucet          -2.063         1.362          -0.726         0              39.391         0
  53  StoveBurner     -0.749         1.325          -2.973         0              0              0
  54  Drawer          -1.610         0.681          -0.430         0              0              0
  55  Window          -2.566         1.799          -0.822         270            0              0
  56  Drawer          -1.610         0.681          -1.217         0              0              0
  57  Sink            -1.990         1.143          -0.975         0              0              0
  58  StoveBurner     -0.125         1.325          -2.973         0              0              0
  59  StoveKnob       -0.185         1.338          -2.741         0              270            180
  60  StoveKnob       -0.336         1.338          -2.741         0              270            180
  61  StoveKnob       -0.569         1.338          -2.741         0              270            180
  62  StoveKnob       -0.707         1.338          -2.741         0              270            180
  63  Fridge          1.013          0.227          1.917          0              270            0
  64  Microwave       0.994          1.310          -2.163         0              270            0
  65  GarbageCan      -1.633         0.212          2.192          0              270            0
  66  LightSwitch     1.386          1.565          -0.657         0              270            0
  67  HousePlant      -2.027         1.311          -0.026         0              284.058        0
  68  SinkBasin       -1.835         1.039          -0.542         0              0              0
  69  ButterKnife     0.873          0.468          0.651          0              0              0
  70  Toaster         -1.885         1.310          -2.512         0              90             0
  71  CoffeeMachine   1.129          1.310          -1.426         0              270            0
  72  Drawer          0.647          1.061          0.680          0              270            0
  73  Drawer          0.648          1.061          1.020          0              270            0
  74  Drawer          0.648          0.843          1.020          0              270            0
  75  SideTable       0.975          0.220          0.869          0              270            0
  76  Drawer          0.648          0.602          0.680          0              270            0
  77  Drawer          0.648          0.596          1.020          0              270            0
  78  Drawer          0.648          0.843          0.680          0              270            0
  79  Stool           0.606          0.222          -1.084         1.233          280.489        0
  80  NorthWall
  81  EastWall
  82  SouthWall
  83  WestWall

Plan:
STEP 1: Turn to the left and then face the sink on the right. | STEP 2: Pick up the tomato from the edge of the counter. | STEP 3: Hold the tomato and move a step to the right. | STEP 4: Place the tomato in the sink and turn on the water. Turn off the water and pick up the tomato. | STEP 5: Carry the tomato and turn around to the microwave cart. | STEP 6: Place the tomato on the left side of the microwave cart. | END