Task: Clean 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           -1.25          0.900          0.25           0              0              0
   1  ButterKnife     1.529          0.910          0.363          0              180            0              40
   2  DishSponge      1.769          1.653          -0.449         0              0              0              51
   3  Spoon           0.652          0.912          -1.352         0              0              0              44
   4  Cup             1.865          0.909          -1.717         0              90             0              44
   5  Cup             -0.692         0.744          -1.664         0              0              0              67
   6  Knife           0.732          0.943          1.092          0              90             0              40
   7  Knife           1.501          0.943          0.827          0              90             0              40
   8  Tomato          1.656          0.975          -1.802         0              90             0              44
   9  Tomato          1.800          0.134          1.684          0              270            0              58
  10  Bowl            1.805          1.644          -1.724         0              0              0              54
  11  SaltShaker      1.878          2.131          1.236          0              0              0              47
  12  SaltShaker      1.878          2.131          1.121          0              0              0              47
  13  PepperShaker    1.734          1.630          -1.419         0              0              0              53
  14  PepperShaker    1.245          0.905          1.180          0              90             0              40
  15  Lettuce         0.220          1.010          0.915          0              90             0              40
  16  Lettuce         -0.741         1.488          -1.594         0              0              0              67
  17  Apple           1.771          1.072          -0.676         0              270            0              64
  18  Plate           1.757          0.912          1.004          0              90             0              40
  19  SoapBottle      1.844          1.637          0.375          0              0              0              49
  20  Cup             0.732          0.908          0.827          0              90             0              40
  21  Egg             1.451          0.945          0.415          0              90             0              40
  22  Fork            1.501          0.911          1.092          0              270            0              40
  23  Ladle           1.201          0.926          0.743          3.367          0              346.986        40
  24  Apple           1.706          1.072          -0.888         0              270            0              64
  25  SaltShaker      1.757          0.905          1.180          0              90             0              40
  26  Pan             1.807          0.909          -0.320         0              180            0              42
  27  Tomato          -0.790         0.814          -1.524         0              0              0              67
  28  Spatula         0.988          0.925          1.004          0              90             0              40
  29  Potato          -0.644         1.723          -1.629         0              0              0              67
  30  Knife           0.476          0.943          1.004          0              90             0              40
  31  ButterKnife     1.726          0.911          -1.631         0              180            0              44
  32  Bread           1.726          0.988          -1.460         0              90             0              44
  33  Lettuce         -0.790         0.560          -1.541         0              0              0              67
  34  PepperShaker    1.733          1.648          -0.305         0              0              0              51
  35  Pot             1.807          0.909          0.075          0              180            0              41
  36  DishSponge      1.451          0.910          0.311          0              90             0              40
  37  Spoon           1.865          0.912          -1.631         0              90             0              44
  38  Bowl            1.839          0.909          0.467          0              90             0              40
  39  Mug             0.502          0.940          -1.460         0              0              0              66
  40  CounterTop      0.989          0.946          1.016          0              90             0
  41  StoveBurner     1.807          0.907          0.075          0              180            0
  42  StoveBurner     1.807          0.907          -0.320         0              180            0
  43  StoveBurner     1.543          0.907          -0.320         0              90             0
  44  CounterTop      0.989          0.946          -1.516         0              90             0
  45  Sink            1.100          0.906          -1.599         0              0              0
  46  StoveBurner     1.548          0.907          0.075          0              180            0
  47  Cabinet         1.658          2.299          1.313          0              0              0
  48  Cabinet         1.658          2.299          0.686          0              0              0
  49  Cabinet         1.658          2.049          0.673          0              0              0
  50  Cabinet         1.658          2.059          0.193          0              0              0
  51  Cabinet         1.658          2.059          -0.593         0              0              0
  52  Cabinet         1.658          2.049          -0.606         0              0              0
  53  Cabinet         1.658          2.049          -1.206         0              0              0
  54  Cabinet         1.658          2.049          -1.893         0              0              0
  55  Toaster         0.131          0.900          -1.589         0              0              0
  56  Window          -0.372         1.588          3.349          90             0              0
  57  Window          0.782          1.741          -1.893         90             0              0
  58  GarbageCan      1.770          -0.029         1.685          0              270            0
  59  SinkBasin       1.091          0.740          -1.599         0              0              0
  60  StoveKnob       1.364          0.821          0.086          48.421         270            0
  61  StoveKnob       1.364          0.821          -0.180         48.421         270            0
  62  StoveKnob       1.364          0.821          -0.317         48.421         270            0
  63  StoveKnob       1.364          0.821          -0.054         48.421         270            0
  64  Microwave       1.752          0.900          -0.843         0              270            0
  65  LightSwitch     2.0            1.261          3.094          0              270            0
  66  CoffeeMachine   0.501          0.900          -1.600         0              0              0
  67  Fridge          -0.533         0.0            -1.554         0              0              0
  68  Chair           1.068          0.000          1.752          0              191.622        0
  69  Faucet          1.110          1.138          -1.764         0              270            0
  70  Chair           0.357          0.000          1.710          0              178.899        0
  71  NorthWall
  72  EastWall
  73  SouthWall
  74  WestWall

Plan:
STEP 1: Turn to your right, move a few steps forward, turn right and go to the sink | STEP 2: Pick up the tomato from the left side of the sink | STEP 3: Move back a little from the sink | STEP 4: Put the tomato in the sink, run the water on it, and pick it up | STEP 5: Turn to your right and to your left to face the counter to the right of the sink | STEP 6: Place the tomato on the counter | END