Task: Put a  clean tomato 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           -1.0           0.900          0.0            0              90             0
   1  Potato          0.553          0.951          -1.263         0              90             0              51
   2  ButterKnife     0.220          0.910          1.180          0              90             0              47
   3  ButterKnife     1.245          0.910          0.915          0              90             0              47
   4  DishSponge      1.607          0.910          0.311          0              90             0              47
   5  Pot             1.807          0.909          -0.320         0              180            0              49
   6  Spatula         0.732          0.925          1.092          0              90             0              47
   7  Spatula         1.451          0.925          0.415          0              90             0              47
   8  Egg             1.917          0.945          0.311          0              90             0              47
   9  Cup             -0.838         1.681          -1.664         0              0              0              74
  10  Cup             1.805          1.633          -1.338         0              0              0              60
  11  Plate           -0.741         1.093          -1.594         0              0              0              74
  12  Knife           1.656          0.943          -1.717         0              90             0              51
  13  SoapBottle      1.840          1.643          -1.683         0              0              0              61
  14  SoapBottle      1.656          0.909          -1.374         0              90             0              51
  15  Tomato          0.732          0.974          0.739          0              90             0              47
  16  Tomato          -0.295         1.123          -1.382         0              0              0              74
  17  Bowl            0.220          0.909          0.827          0              90             0              47
  18  Bowl            -0.741         0.459          -1.412         0              0              0              74
  19  PepperShaker    1.607          0.905          0.622          0              90             0              47
  20  Lettuce         1.865          1.011          -1.374         0              90             0              51
  21  Lettuce         1.501          1.010          0.827          0              90             0              47
  22  Mug             1.586          0.906          -1.802         0              180            0              51
  23  Apple           1.865          0.968          -1.631         0              90             0              51
  24  Apple           1.835          1.072          -0.888         0              270            0              71
  25  Plate           1.802          1.647          -0.000         0              0              0              57
  26  SoapBottle      1.739          0.068          1.636          0              270            0              65
  27  Cup             0.926          0.909          -1.247         0              90             0              51
  28  Egg             1.762          0.945          0.622          0              90             0              47
  29  Fork            1.865          0.911          -1.545         0              90             0              51
  30  Ladle           1.808          1.683          0.375          0              0              0              56
  31  Apple           -0.838         1.446          -1.629         0              0              0              74
  32  SaltShaker      1.734          1.640          -1.724         0              0              0              61
  33  Pan             1.281          0.900          1.190          0              0              0              47
  34  Tomato          1.762          0.974          0.518          0              90             0              47
  35  Spatula         0.732          0.925          0.915          0              180            0              47
  36  Potato          1.830          0.110          1.588          0              180            0              65
  37  Knife           0.988          0.943          1.004          0              270            0              47
  38  ButterKnife     0.296          0.9            -1.296         0              14.568         0              51
  39  Bread           1.757          0.987          1.180          0              90             0              47
  40  Lettuce         1.757          1.010          0.915          0              90             0              47
  41  PepperShaker    1.877          1.648          -0.497         0              0              0              58
  42  Pot             1.807          0.909          0.075          0              180            0              48
  43  DishSponge      1.501          0.910          1.180          0              90             0              47
  44  Spoon           1.839          0.911          0.467          0              270            0              47
  45  Bowl            0.988          0.909          1.092          0              90             0              47
  46  Mug             -0.644         0.741          -1.664         0              0              0              74
  47  CounterTop      0.989          0.946          1.016          0              90             0
  48  StoveBurner     1.807          0.907          0.075          0              180            0
  49  StoveBurner     1.807          0.907          -0.320         0              180            0
  50  StoveBurner     1.543          0.907          -0.320         0              90             0
  51  CounterTop      0.989          0.946          -1.516         0              90             0
  52  Sink            1.100          0.906          -1.599         0              0              0
  53  StoveBurner     1.548          0.907          0.075          0              180            0
  54  Cabinet         1.658          2.299          1.313          0              0              0
  55  Cabinet         1.658          2.299          0.686          0              0              0
  56  Cabinet         1.658          2.049          0.673          0              0              0
  57  Cabinet         1.658          2.059          0.193          0              0              0
  58  Cabinet         1.658          2.059          -0.593         0              0              0
  59  Cabinet         1.658          2.049          -0.606         0              0              0
  60  Cabinet         1.658          2.049          -1.206         0              0              0
  61  Cabinet         1.658          2.049          -1.893         0              0              0
  62  Toaster         0.131          0.900          -1.589         0              0              0
  63  Window          -0.372         1.588          3.349          90             0              0
  64  Window          0.782          1.741          -1.893         90             0              0
  65  GarbageCan      1.770          -0.029         1.685          0              270            0
  66  SinkBasin       1.091          0.740          -1.599         0              0              0
  67  StoveKnob       1.364          0.821          0.086          48.421         270            0
  68  StoveKnob       1.364          0.821          -0.180         48.421         270            0
  69  StoveKnob       1.364          0.821          -0.317         48.421         270            0
  70  StoveKnob       1.364          0.821          -0.054         48.421         270            0
  71  Microwave       1.752          0.900          -0.843         0              270            0
  72  LightSwitch     2.0            1.261          3.094          0              270            0
  73  CoffeeMachine   0.501          0.900          -1.600         0              0              0
  74  Fridge          -0.533         0.0            -1.554         0              0              0
  75  Chair           1.068          0.000          1.752          0              191.622        0
  76  Faucet          1.110          1.138          -1.764         0              270            0
  77  Chair           0.357          0.000          1.710          0              178.899        0
  78  NorthWall
  79  EastWall
  80  SouthWall
  81  WestWall

Plan:
STEP 1: Go straight across the kitchen towards the stove. | STEP 2: Pick up the tomato between the egg and the sponge, on the counter to the left of the stove.  | STEP 3: Turn to your right and go to the sink ahead of you.  | STEP 4: Place the tomato in the sink, turn the water on, rinse off the tomato, turn the water off, and remove the tomato from the sink.  | STEP 5: Move over to the counter to the right of the sink, on your right.  | STEP 6: Place the tomato between the potato and the butter knife, on the counter.  | END