Task: Put the clean 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           -4.25          0.900          -1.75          0              180            0
   1  Glassbottle     -0.778         0.083          -3.662         0              0              0              57
   2  Pencil          -1.975         0.027          -3.799         0              90             0              69
   3  Potato          -0.441         1.130          -1.084         0              270            0              70
   4  Potato          -0.228         1.722          -0.874         0              270            0              70
   5  DishSponge      -2.780         0.923          -1.654         0              0              0              78
   6  DishSponge      -0.420         0.746          -3.267         0              0              0              64
   7  ButterKnife     -2.324         0.923          -1.193         0              90             0              78
   8  Pot             -1.515         0.935          -3.497         0              0              0              50
   9  Spatula         -2.666         0.938          -2.115         0              180            0              78
  10  Fork            -2.324         0.924          -2.345         0              0              0              78
  11  Spoon           -2.666         0.924          -2.345         0              0              0              78
  12  Spoon           -0.293         0.916          -3.771         0              0              0              53
  13  Knife           -2.666         0.946          -1.193         0              90             0              78
  14  Knife           -0.457         0.938          -3.626         0              0              0              53
  15  Egg             -2.210         0.956          -1.654         0              0              0              78
  16  Egg             -0.350         0.831          -1.786         0              270            0              71
  17  Bowl            -0.600         0.914          -3.555         0              0              0              53
  18  Bowl            -2.666         0.922          -1.423         0              0              0              78
  19  Lettuce         -0.392         1.483          -0.769         0              270            0              70
  20  SaltShaker      -2.780         0.919          -0.963         0              0              0              78
  21  Mug             -2.438         0.918          -1.193         0              0              0              78
  22  Apple           -1.943         0.100          -3.727         0              0              0              69
  23  Apple           -0.268         1.764          -0.560         0              270            0              70
  24  Lettuce         -2.562         1.002          -1.677         36.385         0              0              78
  25  Glassbottle     -0.671         0.916          -3.768         0              0              0              53
  26  Egg             -2.210         0.956          -1.423         0              0              0              78
  27  Pen             -2.096         0.926          -1.423         0              0              0              78
  28  Fork            -2.096         0.924          -2.115         0              0              0              78
  29  SoapBottle      -0.446         1.529          -3.624         0              45             0              61
  30  Pencil          -2.780         0.923          -1.423         0              0              0              78
  31  WineBottle      -2.552         0.924          -1.884         0              0              0              78
  32  Spatula         -2.324         0.938          -0.963         0              0              0              78
  33  Bread           -0.343         1.151          -0.769         0              270            0              70
  34  Tomato          -2.096         0.987          -2.345         0              0              0              78
  35  Pan             -2.174         0.913          -1.099         0              0              0              78
  36  Cup             -0.388         1.689          -0.560         0              270            0              70
  37  Pot             -1.129         0.935          -3.498         0              0              0              51
  38  SaltShaker      -1.496         1.965          -3.928         0              0              0              62
  39  Potato          -1.151         1.661          -3.870         0              0              0              66
  40  PepperShaker    -0.230         1.966          -2.306         0              0              0              60
  41  ButterKnife     -0.350         0.797          -2.155         0              270            0              71
  42  DishSponge      -0.778         0.746          -3.586         0              0              0              52
  43  Spoon           -2.324         0.924          -1.654         0              0              0              78
  44  Plate           -2.210         0.925          -1.884         0              0              0              78
  45  Knife           -2.210         0.946          -1.423         0              0              0              78
  46  Mug             -0.499         0.076          -2.293         0              0              0              48
  47  Bowl            -0.293         0.914          -3.570         0              0              0              53
  48  Cabinet         -0.582         0.388          -1.804         0              0              0
  49  StoveBurner     -1.515         0.928          -3.752         0              90             0
  50  StoveBurner     -1.515         0.928          -3.497         0              0              0
  51  StoveBurner     -1.129         0.928          -3.498         0              0              0
  52  Drawer          -0.749         0.779          -3.551         0              0              0
  53  CounterTop      -0.303         0.951          -2.793         0              0              0
  54  Cabinet         -0.883         2.140          -3.687         0              0              0
  55  Cabinet         -0.312         2.140          -1.543         0              0              0
  56  Sink            -0.349         0.907          -2.014         0              0              0
  57  Cabinet         -0.877         0.388          -3.422         0              0              0
  58  Cabinet         -0.582         0.388          -2.197         0              0              0
  59  Cabinet         -0.584         0.388          -3.396         0              0              0
  60  Cabinet         -0.312         2.140          -2.481         0              0              0
  61  Cabinet         -0.330         1.921          -3.390         0              0              0
  62  Cabinet         -1.764         2.140          -3.687         0              0              0
  63  StoveBurner     -1.129         0.928          -3.752         0              90             0
  64  Drawer          -0.454         0.779          -3.268         0              0              0
  65  Cabinet         -0.302         1.916          -2.501         0              0              0
  66  Microwave       -1.317         1.517          -3.801         0              1.440          0
  67  CoffeeMachine   -0.153         0.903          -3.144         0              270            0
  68  LightSwitch     -4.323         1.319          0.0            0              180            0
  69  GarbageCan      -1.943         -7.152         -3.763         0              0              0
  70  Fridge          -0.330         0.0            -0.769         0              270            0
  71  SinkBasin       -0.350         0.786          -2.018         0              270            0
  72  StoveKnob       -1.582         1.082          -3.958         72.287         0              0
  73  StoveKnob       -1.177         1.082          -3.958         72.287         0              0
  74  StoveKnob       -1.424         1.082          -3.958         72.287         0              0
  75  StoveKnob       -1.028         1.082          -3.958         72.287         0              0
  76  Toaster         -0.181         0.903          -2.764         0              270            0
  77  Window          -2.503         1.782          -4.185         90             180            0
  78  DiningTable     -2.432         0.000          -1.694         0              270            0
  79  Shelf           -2.432         0.150          -1.694         0              270            0
  80  Blinds          -2.536         2.699          -3.959         0              0              0
  81  Faucet          -0.079         0.904          -2.034         270            180            0
  82  Chair           -3.264         0.002          -2.094         0              53.280         0
  83  Chair           -3.240         0.002          -1.253         0              117.257        0
  84  Shelf           -2.432         0.523          -1.694         0              270            0
  85  NorthWall
  86  EastWall
  87  SouthWall
  88  WestWall

Plan:
STEP 1: walk forward then turn left walk straight past the table then turn left face the table | STEP 2: Pick up the tomato on the table  | STEP 3: Turn to your right and face the sink | STEP 4: Put the tomato in the sink and rinse it | STEP 5: Turn right face the table  | STEP 6: Put the tomato on the table in front of the cabbage | END