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           -1.75          0.900          -0.5           0              0              0
   1  Glassbottle     -0.422         0.082          -1.712         0              0              0              49
   2  Pencil          -2.324         0.923          -1.423         0              0              0              79
   3  Pen             -2.096         0.926          -1.884         0              0              0              79
   4  Pen             -2.552         0.926          -0.963         0              0              0              79
   5  Potato          -0.348         1.722          -0.769         0              270            0              71
   6  DishSponge      -2.210         0.923          -1.884         0              0              0              79
   7  WineBottle      -2.324         0.924          -2.345         0              0              0              79
   8  WineBottle      -2.096         0.924          -2.345         0              0              0              79
   9  Pot             -1.515         0.935          -3.497         0              0              0              51
  10  Spatula         -2.666         0.938          -1.423         0              180            0              79
  11  Spatula         -2.438         0.938          -1.884         0              0              0              79
  12  Spoon           -0.743         0.916          -3.555         0              0              0              54
  13  Spoon           -2.666         0.924          -2.115         0              0              0              79
  14  Knife           -2.780         0.946          -1.423         0              270            0              79
  15  Plate           -0.383         0.083          -2.201         0              0              0              59
  16  Egg             -0.447         0.830          -2.008         0              270            0              72
  17  SoapBottle      -2.666         0.922          -1.884         0              0              0              79
  18  Tomato          -1.881         0.090          -3.763         0              0              0              70
  19  Bread           -0.343         1.151          -0.560         0              270            0              71
  20  SaltShaker      -0.600         0.912          -3.909         0              0              0              54
  21  SaltShaker      -0.391         0.743          -3.327         0              0              0              65
  22  PepperShaker    -2.210         0.919          -1.654         0              0              0              79
  23  Apple           -0.457         0.989          -3.909         0              0              0              54
  24  Apple           -1.204         1.703          -3.837         0              0              0              67
  25  Lettuce         -0.343         1.191          -0.874         0              270            0              71
  26  Glassbottle     -0.186         1.528          -3.020         0              0              0              66
  27  Egg             -2.324         0.956          -1.654         0              0              0              79
  28  Pen             -2.324         0.926          -2.115         0              0              0              79
  29  Fork            -2.666         0.924          -1.654         0              0              0              79
  30  SoapBottle      -0.422         0.079          -1.895         0              0              0              59
  31  Pencil          -0.537         0.747          -3.238         0              90             0              65
  32  WineBottle      -2.438         0.924          -1.654         0              0              0              79
  33  Spatula         -0.350         0.812          -2.008         0              270            0              72
  34  Bread           -0.392         1.443          -0.665         0              270            0              71
  35  Tomato          -2.096         0.987          -1.423         0              0              0              79
  36  Pan             -2.174         0.913          -1.099         0              0              0              79
  37  Cup             -0.228         1.689          -0.979         0              270            0              71
  38  Pot             -1.129         0.935          -3.498         0              0              0              52
  39  SaltShaker      -2.552         0.919          -2.115         0              0              0              79
  40  Potato          -0.388         1.722          -0.455         0              270            0              71
  41  PepperShaker    -0.499         0.077          -3.236         0              0              0              60
  42  ButterKnife     -0.365         0.915          -2.563         0              90             0              54
  43  DishSponge      -0.778         0.746          -3.527         0              0              0              53
  44  Spoon           -2.324         0.924          -2.115         0              0              0              79
  45  Plate           -0.457         0.918          -3.626         0              0              0              54
  46  Knife           -2.324         0.946          -1.423         0              0              0              79
  47  Mug             -0.747         0.077          -3.662         0              0              0              58
  48  Bowl            -2.096         0.922          -2.115         0              0              0              79
  49  Cabinet         -0.582         0.388          -1.804         0              0              0
  50  StoveBurner     -1.515         0.928          -3.752         0              90             0
  51  StoveBurner     -1.515         0.928          -3.497         0              0              0
  52  StoveBurner     -1.129         0.928          -3.498         0              0              0
  53  Drawer          -0.749         0.779          -3.551         0              0              0
  54  CounterTop      -0.303         0.951          -2.793         0              0              0
  55  Cabinet         -0.883         2.140          -3.687         0              0              0
  56  Cabinet         -0.312         2.140          -1.543         0              0              0
  57  Sink            -0.349         0.907          -2.014         0              0              0
  58  Cabinet         -0.877         0.388          -3.422         0              0              0
  59  Cabinet         -0.582         0.388          -2.197         0              0              0
  60  Cabinet         -0.584         0.388          -3.396         0              0              0
  61  Cabinet         -0.312         2.140          -2.481         0              0              0
  62  Cabinet         -0.330         1.921          -3.390         0              0              0
  63  Cabinet         -1.764         2.140          -3.687         0              0              0
  64  StoveBurner     -1.129         0.928          -3.752         0              90             0
  65  Drawer          -0.454         0.779          -3.268         0              0              0
  66  Cabinet         -0.302         1.916          -2.501         0              0              0
  67  Microwave       -1.317         1.517          -3.801         0              1.440          0
  68  CoffeeMachine   -0.153         0.903          -3.144         0              270            0
  69  LightSwitch     -4.323         1.319          0.0            0              180            0
  70  GarbageCan      -1.943         -7.152         -3.763         0              0              0
  71  Fridge          -0.330         0.0            -0.769         0              270            0
  72  SinkBasin       -0.350         0.786          -2.018         0              270            0
  73  StoveKnob       -1.582         1.082          -3.958         72.287         0              0
  74  StoveKnob       -1.177         1.082          -3.958         72.287         0              0
  75  StoveKnob       -1.424         1.082          -3.958         72.287         0              0
  76  StoveKnob       -1.028         1.082          -3.958         72.287         0              0
  77  Toaster         -0.181         0.903          -2.764         0              270            0
  78  Window          -2.503         1.782          -4.185         90             180            0
  79  DiningTable     -2.432         0.000          -1.694         0              270            0
  80  Shelf           -2.432         0.150          -1.694         0              270            0
  81  Blinds          -2.536         2.699          -3.959         0              0              0
  82  Faucet          -0.079         0.904          -2.034         270            180            0
  83  Chair           -3.264         0.002          -2.094         0              53.280         0
  84  Chair           -3.240         0.002          -1.253         0              117.257        0
  85  Shelf           -2.432         0.523          -1.694         0              270            0
  86  NorthWall
  87  EastWall
  88  SouthWall
  89  WestWall

Plan:
STEP 1: Turn around and face the island on the right. | STEP 2: Pick up the tomato from the front of the counter. | STEP 3: Hold the tomato and turn around to the sink. | STEP 4: Put the tomato in the sink and turn on the water. Turn off the water and pick up the tomato. | STEP 5: Hold the tomato and turn around to the island. | STEP 6: Place the tomato on the counter, in front of the salt. | END