Task: Clean the tomato on the table.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -3.0           0.900          1.5            0              180            0
   1  Potato          -3.542         0.142          1.978          0              0              0              67
   2  DishSponge      -0.415         1.046          2.369          0              0              0              46
   3  ButterKnife     -1.199         0.931          0.567          0              0              0              68
   4  ButterKnife     -0.662         1.048          2.369          0              0              0              46
   5  Pot             -3.373         0.916          3.061          0              90             0              63
   6  Fork            -1.199         0.932          0.290          0              0              0              68
   7  Spoon           -2.088         0.903          0.612          0              270            0              54
   8  Spatula         -0.538         1.062          3.266          0              0              0              46
   9  Plate           -2.262         1.123          0.473          0              0              0              56
  10  Knife           -1.288         0.963          0.428          0              0              0              68
  11  Knife           -0.538         1.080          2.593          0              0              0              46
  12  SoapBottle      -2.042         0.487          0.545          0              0              0              47
  13  SoapBottle      -0.939         1.125          0.478          0              0              0              58
  14  Tomato          -0.785         1.088          3.042          0              0              0              46
  15  Tomato          -0.659         1.165          0.115          0              0              0              58
  16  Bowl            -1.156         0.047          0.608          0              0              0              50
  17  PepperShaker    -2.514         1.121          0.190          0              0              0              56
  18  Lettuce         -3.44          1.364          3.132          0              90             0              63
  19  Fork            -0.662         1.048          2.144          0              0              0              46
  20  SoapBottle      -3.798         0.113          2.038          0              0              0              67
  21  Pot             -3.475         1.133          0.48           0              90             0              44
  22  Ladle           -0.662         1.086          3.042          0              0              0              46
  23  Potato          -0.415         1.078          1.920          0              0              0              46
  24  Plate           -0.908         1.045          2.369          0              0              0              46
  25  Bread           -0.183         1.119          1.892          0              0              0              46
  26  Lettuce         -0.785         1.125          2.144          0              0              0              46
  27  Spatula         -0.715         1.139          0.296          0              90             0              58
  28  Pan             -3.000         1.133          0.480          0              270            0              51
  29  Egg             -1.199         0.961          0.498          0              0              0              68
  30  Cup             -1.288         0.929          0.636          0              0              0              68
  31  SaltShaker      -0.168         1.043          2.593          0              0              0              46
  32  Knife           -0.662         1.079          1.920          0              0              0              46
  33  Bowl            -1.522         0.046          0.381          0              0              0              61
  34  PepperShaker    -1.314         0.045          0.381          0              0              0              50
  35  ButterKnife     -0.538         1.048          2.817          0              0              0              46
  36  Apple           -3.644         0.179          1.978          0              0              0              67
  37  Tomato          -0.785         1.088          2.593          0              0              0              46
  38  DishSponge      -0.908         1.046          3.266          0              0              0              46
  39  Spoon           -2.416         0.904          0.578          0              0              0              55
  40  Mug             -0.908         1.042          3.042          0              0              0              46
  41  StoveKnob       -3.322         1.053          0.709          45             0              0
  42  StoveBurner     -3.474         1.097          0.227          0              180            0
  43  Sink            -1.394         0.982          0.439          0              0              0
  44  StoveBurner     -3.474         1.097          0.479          0              180            0
  45  StoveKnob       -3.164         1.053          0.709          45             0              0
  46  DiningTable     -0.620         0.017          2.486          0              0              0
  47  Drawer          -2.043         0.608          0.594          0              0              0
  48  Drawer          -2.043         0.216          0.594          0              0              0
  49  Drawer          -2.498         0.216          0.594          0              0              0
  50  Cabinet         -1.001         0.393          0.734          0              0              0
  51  StoveBurner     -3.000         1.097          0.480          0              0              0
  52  StoveKnob       -3.492         1.053          0.709          45             0              0
  53  CounterTop      -3.856         1.160          0.379          0              0              0
  54  Drawer          -2.043         0.937          0.599          0              0              0
  55  Drawer          -2.509         0.937          0.599          0              0              0
  56  CounterTop      -2.280         1.160          0.379          0              0              0
  57  StoveKnob       -2.985         1.053          0.709          45             0              0
  58  CounterTop      -0.514         1.160          0.492          0              0              0
  59  Drawer          -2.498         0.608          0.594          0              0              0
  60  StoveBurner     -3.000         1.097          0.227          0              0              0
  61  Cabinet         -1.733         0.393          0.734          0              0              0
  62  CoffeeMachine   -0.153         1.038          3.193          0              270            0
  63  Fridge          -3.519         0.0            2.717          0              90             0
  64  Window          -1.394         1.924          0.014          90             0              0
  65  Window          -3.266         1.924          0.014          90             0              0
  66  Toaster         -0.225         1.038          2.865          0              270            0
  67  GarbageCan      -3.696         0.002          2.008          0              0              0
  68  SinkBasin       -1.389         0.921          0.428          0              0              0
  69  Microwave       -0.366         1.113          0.430          0              0              0
  70  HousePlant      -2.155         1.101          0.169          0              332.897        0
  71  LightSwitch     -2.584         1.299          3.5            0              180            0
  72  Faucet          -1.393         1.373          0.168          0              270            0
  73  NorthWall
  74  SouthWall
  75  SouthWall

Plan:
STEP 1: Turn around and go toward the fridge, then turn right and go to the table. | STEP 2: Pick up the tomato on the table, in front of the coffee maker. | STEP 3: Turn right, go straight, then turn left, then turn right to face the sink.  | STEP 4: Wash the tomato in the sink. | STEP 5: Turn right, go forward, then turn right, go toward the wall, then turn right at the table, near the coffee maker. | STEP 6: Place the tomato on the table, to the right of the mug.  | END