Task: To rinse a tomato and put it in the fridge.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.75          0.900          1.75           0              180            0
   1  Pan             1.559          0.988          4.294          0              0              0              59
   2  DishSponge      0.674          0.143          0.260          0              0              0              67
   3  DishSponge      0.257          0.759          6.719          0              225            0              97
   4  Kettle          0.958          1.580          0.207          0              0              0              68
   5  Pot             1.317          0.988          4.294          0              0              0              56
   6  Spoon           0.305          0.761          6.416          0              270            0              97
   7  Fork            -0.159         0.760          6.941          0              180            0              97
   8  Fork            1.404          0.772          3.360          0              0              0              54
   9  Cup             -0.221         0.756          6.941          0              0              0              97
  10  Cup             -0.621         0.756          6.291          0              270            0              97
  11  Knife           0.803          0.802          0.507          0              0              0              53
  12  Tomato          2.094          1.565          5.626          0              270            0              83
  13  Tomato          2.094          1.565          5.876          0              270            0              83
  14  Tomato          2.006          0.130          6.439          0              0              0              85
  15  SoapBottle      1.155          0.140          3.439          0              0              0              72
  16  Bowl            -0.134         1.578          0.295          0              0              0              74
  17  Bowl            1.406          0.139          2.646          0              0              0              73
  18  PepperShaker    -0.158         0.755          6.666          0              270            0              97
  19  SaltShaker      -0.687         0.987          0.212          0              0              0              61
  20  SaltShaker      1.671          0.987          2.950          0              0              0              61
  21  Bread           1.493          1.062          0.213          0              0              0              61
  22  Lettuce         0.305          0.848          6.541          0              270            0              97
  23  Lettuce         -0.467         0.848          6.604          0              270            0              97
  24  Apple           1.135          1.067          4.808          0              0              0              62
  25  Apple           -0.442         0.834          6.107          0              225            0              97
  26  Bowl            1.533          2.206          3.747          0              0              0              52
  27  Bread           1.099          1.048          0.434          0              0              0              61
  28  Egg             2.154          0.130          6.498          0              0              0              85
  29  Knife           0.124          0.801          0.563          0              270            0              58
  30  Fork            -0.486         0.760          6.151          0              45             0              97
  31  Apple           0.064          1.171          0.213          0              0              0              77
  32  Kettle          1.593          0.981          3.25           0              255.000        0              61
  33  Plate           1.225          0.993          3.044          0              0              0              61
  34  SaltShaker      0.544          0.987          0.670          0              0              0              61
  35  Lettuce         1.449          0.932          2.050          0              0              0              84
  36  SoapBottle      1.406          0.140          2.424          0              0              0              73
  37  Spatula         1.497          0.906          2.474          0              0              0              84
  38  PaperTowelRoll  -0.221         0.864          6.787          0              0              0              97
  39  Pot             1.562          0.988          3.848          0              0              0              55
  40  Potato          2.051          1.550          5.376          0              270            0              83
  41  ButterKnife     -0.687         0.992          0.395          0              180            0              61
  42  PepperShaker    0.212          0.755          6.196          0              135            0              97
  43  Pan             1.313          0.985          4.284          0              0              0              56
  44  Tomato          0.028          0.809          6.632          0              0              0              97
  45  DishSponge      0.055          0.143          0.658          0              0              0              70
  46  Cup             -0.334         0.756          6.742          0              135            0              97
  47  Spoon           1.493          0.993          3.417          0              0              0              61
  48  Mug             1.384          1.043          0.847          0              270            0              61
  49  Cabinet         1.307          2.455          4.360          0              0              0
  50  Cabinet         1.054          0.422          1.710          0              0              0
  51  Drawer          1.280          0.808          4.718          0              0              0
  52  Cabinet         1.307          2.455          3.607          0              0              0
  53  Drawer          0.736          0.802          0.521          0              0              0
  54  Drawer          1.276          0.802          3.291          0              0              0
  55  StoveBurner     1.562          0.982          3.848          0              0              0
  56  StoveBurner     1.317          0.982          4.294          0              0              0
  57  Drawer          -0.482         0.802          0.521          0              0              0
  58  Drawer          0.124          0.802          0.521          0              0              0
  59  StoveBurner     1.559          0.982          4.294          0              0              0
  60  StoveBurner     1.320          0.982          3.848          0              0              0
  61  CounterTop      1.391          1.028          0.897          0              0              0
  62  CounterTop      1.391          1.028          4.716          0              0              0
  63  Cabinet         1.054          0.422          4.548          0              0              0
  64  Cabinet         1.317          2.134          0.517          0              0              0
  65  Cabinet         1.317          2.134          4.889          0              0              0
  66  Cabinet         1.317          2.134          3.095          0              0              0
  67  Cabinet         0.443          0.422          0.743          0              0              0
  68  Cabinet         1.270          2.134          0.434          0              0              0
  69  Cabinet         -0.775         0.422          0.743          0              0              0
  70  Cabinet         -0.168         0.422          0.743          0              0              0
  71  Cabinet         1.317          2.134          1.534          0              0              0
  72  Cabinet         1.054          0.422          2.990          0              0              0
  73  Cabinet         1.054          0.422          2.944          0              0              0
  74  Cabinet         -0.263         2.134          0.434          0              0              0
  75  Cabinet         0.252          2.134          0.434          0              0              0
  76  Sink            1.391          1.006          2.326          0              0              0
  77  Microwave       0.108          0.981          0.262          0              0              0
  78  HousePlant      -0.165         0.826          6.444          0              0              0
  79  CoffeeMachine   1.551          0.982          0.953          0              270            0
  80  Toaster         1.473          0.981          4.715          0              270            0
  81  Window          -2.065         1.916          3.626          90             90             0
  82  Window          1.763          2.007          2.299          90             270            0
  83  Fridge          2.035          0.0            5.625          0              0              0
  84  SinkBasin       1.387          0.880          2.338          0              90             0
  85  GarbageCan      2.001          -0.044         6.503          0              0              0
  86  StoveKnob       1.140          0.934          3.987          45             270            0
  87  StoveKnob       1.140          0.934          4.309          45             270            0
  88  StoveKnob       1.140          0.934          4.140          45             270            0
  89  StoveKnob       1.140          0.934          3.824          45             270            0
  90  Vase            -0.226         0.834          6.993          0              0              0
  91  Vase            2.098          0.043          7.070          0              257.232        0
  92  Vase            -0.594         0.835          6.130          0              225            0
  93  LightSwitch     -2.0           1.549          6.045          0              90             0
  94  Safe            2.046          1.072          7.054          0              257.232        0
  95  Faucet          1.534          1.025          2.371          0              294.391        0
  96  Blinds          1.738          2.563          2.312          0              90             0
  97  DiningTable     -0.156         0.000          6.474          0              0              0
  98  Chair           0.291          0.002          6.142          0              310.162        0
  99  GarbageBag      -1.092         0.318          0.268          270            90             83.492
 100  NorthWall
 101  EastWall
 102  SouthWall
 103  WestWall

Plan:
STEP 1: Turn and walk to the table on the other side of the room.  | STEP 2: Pick up the tomato behind the sponge.  | STEP 3: Walk over to the sink on the left.  | STEP 4: Put the tomato in the sink, rinse off the tomato, pick up the tomato.  | STEP 5: Walk over to the fridge on the right.  | STEP 6: Put the tomato on the top shelf of the fridge.  | END