Task: Wash a tomato and put it in the refrigerator

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.25          0.900          3.5            0              90             0
   1  Pan             -0.014         0.142          0.277          0              270            0              61
   2  Potato          0.125          0.794          6.851          0              225            0              88
   3  Potato          -0.179         0.794          6.282          0              225            0              88
   4  Pot             1.32           0.988          3.848          0              0              0              51
   5  Pot             1.317          0.988          4.294          0              0              0              47
   6  Spatula         1.292          0.786          3.154          0              90             0              45
   7  Fork            0.192          0.772          0.618          0              270            0              49
   8  Egg             1.135          1.042          4.716          0              0              0              53
   9  Knife           0.668          0.802          0.563          0              270            0              44
  10  Knife           -0.003         0.789          6.666          0              0              0              88
  11  Tomato          -0.313         0.809          6.544          0              135            0              88
  12  SoapBottle      0.148          0.760          6.609          0              315            0              88
  13  SoapBottle      0.150          0.760          6.479          0              270            0              88
  14  Bowl            -0.575         0.759          6.719          0              135            0              88
  15  Bowl            0.256          0.759          6.240          0              135            0              88
  16  Mug             1.225          0.987          0.213          0              180            0              52
  17  Bowl            -0.159         0.759          6.787          0              0              0              88
  18  Bread           1.099          1.048          0.434          0              0              0              52
  19  Egg             1.924          1.565          5.376          0              270            0              74
  20  Knife           -0.611         1.022          0.395          0              0              0              52
  21  Fork            1.348          0.772          3.429          0              0              0              45
  22  Apple           2.137          1.590          5.501          0              270            0              74
  23  Kettle          1.593          0.981          3.25           0              255.000        0              52
  24  Plate           0.745          0.144          0.418          0              0              0              58
  25  SaltShaker      1.135          0.987          4.624          0              0              0              53
  26  Lettuce         2.051          1.604          5.251          0              270            0              74
  27  SoapBottle      1.657          0.140          3.365          0              0              0              63
  28  Spatula         1.276          0.906          2.474          0              180            0              75
  29  PaperTowelRoll  -0.762         1.096          0.120          0              0              0              52
  30  Pot             1.562          0.988          3.848          0              0              0              46
  31  Potato          1.276          0.925          2.137          0              270            0              75
  32  ButterKnife     0.124          0.771          0.563          0              0              0              49
  33  PepperShaker    0.696          0.987          0.303          0              0              0              52
  34  Pan             1.406          0.138          2.159          0              0              0              41
  35  Tomato          2.055          0.130          6.469          0              0              0              76
  36  DishSponge      -0.346         0.759          6.014          0              0              0              88
  37  Cup             2.051          1.511          6.001          0              270            0              74
  38  Spoon           1.238          0.772          4.717          0              0              0              42
  39  Mug             -0.006         0.755          6.414          0              135            0              88
  40  Cabinet         1.307          2.455          4.360          0              0              0
  41  Cabinet         1.054          0.422          1.710          0              0              0
  42  Drawer          1.280          0.808          4.718          0              0              0
  43  Cabinet         1.307          2.455          3.607          0              0              0
  44  Drawer          0.736          0.802          0.521          0              0              0
  45  Drawer          1.276          0.802          3.291          0              0              0
  46  StoveBurner     1.562          0.982          3.848          0              0              0
  47  StoveBurner     1.317          0.982          4.294          0              0              0
  48  Drawer          -0.482         0.802          0.521          0              0              0
  49  Drawer          0.124          0.802          0.521          0              0              0
  50  StoveBurner     1.559          0.982          4.294          0              0              0
  51  StoveBurner     1.320          0.982          3.848          0              0              0
  52  CounterTop      1.391          1.028          0.897          0              0              0
  53  CounterTop      1.391          1.028          4.716          0              0              0
  54  Cabinet         1.054          0.422          4.548          0              0              0
  55  Cabinet         1.317          2.134          0.517          0              0              0
  56  Cabinet         1.317          2.134          4.889          0              0              0
  57  Cabinet         1.317          2.134          3.095          0              0              0
  58  Cabinet         0.443          0.422          0.743          0              0              0
  59  Cabinet         1.270          2.134          0.434          0              0              0
  60  Cabinet         -0.775         0.422          0.743          0              0              0
  61  Cabinet         -0.168         0.422          0.743          0              0              0
  62  Cabinet         1.317          2.134          1.534          0              0              0
  63  Cabinet         1.054          0.422          2.990          0              0              0
  64  Cabinet         1.054          0.422          2.944          0              0              0
  65  Cabinet         -0.263         2.134          0.434          0              0              0
  66  Cabinet         0.252          2.134          0.434          0              0              0
  67  Sink            1.391          1.006          2.326          0              0              0
  68  Microwave       0.108          0.981          0.262          0              0              0
  69  HousePlant      -0.165         0.826          6.444          0              0              0
  70  CoffeeMachine   1.551          0.982          0.953          0              270            0
  71  Toaster         1.473          0.981          4.715          0              270            0
  72  Window          -2.065         1.916          3.626          90             90             0
  73  Window          1.763          2.007          2.299          90             270            0
  74  Fridge          2.035          0.0            5.625          0              0              0
  75  SinkBasin       1.387          0.880          2.338          0              90             0
  76  GarbageCan      2.001          -0.044         6.503          0              0              0
  77  StoveKnob       1.140          0.934          3.987          45             270            0
  78  StoveKnob       1.140          0.934          4.309          45             270            0
  79  StoveKnob       1.140          0.934          4.140          45             270            0
  80  StoveKnob       1.140          0.934          3.824          45             270            0
  81  Vase            -0.226         0.834          6.993          0              0              0
  82  Vase            2.098          0.043          7.070          0              257.232        0
  83  Vase            -0.594         0.835          6.130          0              225            0
  84  LightSwitch     -2.0           1.549          6.045          0              90             0
  85  Safe            2.046          1.072          7.054          0              257.232        0
  86  Faucet          1.534          1.025          2.371          0              294.391        0
  87  Blinds          1.738          2.563          2.312          0              90             0
  88  DiningTable     -0.156         0.000          6.474          0              0              0
  89  Chair           0.291          0.002          6.142          0              310.162        0
  90  GarbageBag      -1.092         0.318          0.268          270            90             83.492
  91  NorthWall
  92  EastWall
  93  SouthWall
  94  WestWall

Plan:
STEP 1: Turn left and walk across the kitchen to the black bin on the right | STEP 2: Pick up the tomato in the black bin | STEP 3: Turn around and walk across the kitchen to the sink on the left | STEP 4: Put the tomato in the sink next to the potato, fill the sink with water, drain the water from the sink, and pick up the tomato | STEP 5: Turn to the left and walk across the kitchen to the refrigerator on the right  | STEP 6: Open the refrigerator door and put the tomato on the top shelf  | END