Task: Put a clean tomato 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           1.0            0.900          3.0            0              90             0
   1  Pan             1.543          0.909          -0.320         0              90             0              44
   2  Potato          -0.644         1.723          -1.629         0              0              0              68
   3  Potato          -0.838         0.500          -1.605         0              0              0              68
   4  Ladle           1.586          0.955          -1.374         0              90             0              45
   5  ButterKnife     1.757          0.910          1.004          0              90             0              41
   6  ButterKnife     0.220          0.910          0.915          0              90             0              41
   7  DishSponge      1.769          2.136          0.805          0              0              0              49
   8  DishSponge      1.800          0.069          1.588          0              270            0              59
   9  Spoon           1.839          0.911          0.467          0              90             0              41
  10  Spatula         1.796          0.926          -1.288         0              0              0              45
  11  Cup             0.476          0.908          0.827          0              90             0              41
  12  Tomato          -0.644         0.814          -1.524         0              0              0              68
  13  Tomato          1.739          0.134          1.779          0              270            0              59
  14  SaltShaker      1.840          1.640          -1.765         0              0              0              55
  15  PepperShaker    1.451          0.905          0.518          0              90             0              41
  16  PepperShaker    1.762          0.905          0.570          0              90             0              41
  17  Apple           -0.790         0.517          -1.412         0              0              0              68
  18  Apple           -0.790         1.740          -1.629         0              0              0              68
  19  Plate           1.656          0.912          -1.631         0              90             0              45
  20  SoapBottle      1.805          1.633          -1.419         0              0              0              54
  21  Cup             1.771          1.013          -0.888         0              270            0              65
  22  Egg             0.476          0.945          1.092          0              90             0              41
  23  Fork            0.988          0.911          1.180          0              90             0              41
  24  Ladle           1.201          0.926          0.743          3.402          0              346.985        41
  25  Apple           1.757          0.967          1.180          0              90             0              41
  26  SaltShaker      1.656          0.906          -1.802         0              90             0              45
  27  Pan             1.281          0.900          1.190          0              0              0              41
  28  Tomato          1.865          0.975          -1.374         0              90             0              45
  29  Spatula         1.684          0.925          0.415          0              180            0              41
  30  Potato          0.989          0.950          0.915          0              90             0              41
  31  Knife           1.796          0.943          -1.545         0              90             0              45
  32  ButterKnife     0.296          0.9            -1.296         0              14.568         0              45
  33  Bread           0.732          0.987          0.915          0              90             0              41
  34  Lettuce         0.220          1.010          0.915          0              90             0              41
  35  PepperShaker    1.733          1.648          -0.401         0              0              0              52
  36  Pot             1.548          0.909          0.075          0              180            0              47
  37  DishSponge      0.476          0.910          1.180          0              90             0              41
  38  Spoon           1.607          0.911          0.363          0              90             0              41
  39  Bowl            1.808          1.638          0.431          0              0              0              50
  40  Mug             0.502          0.940          -1.460         0              0              0              67
  41  CounterTop      0.989          0.946          1.016          0              90             0
  42  StoveBurner     1.807          0.907          0.075          0              180            0
  43  StoveBurner     1.807          0.907          -0.320         0              180            0
  44  StoveBurner     1.543          0.907          -0.320         0              90             0
  45  CounterTop      0.989          0.946          -1.516         0              90             0
  46  Sink            1.100          0.906          -1.599         0              0              0
  47  StoveBurner     1.548          0.907          0.075          0              180            0
  48  Cabinet         1.658          2.299          1.313          0              0              0
  49  Cabinet         1.658          2.299          0.686          0              0              0
  50  Cabinet         1.658          2.049          0.673          0              0              0
  51  Cabinet         1.658          2.059          0.193          0              0              0
  52  Cabinet         1.658          2.059          -0.593         0              0              0
  53  Cabinet         1.658          2.049          -0.606         0              0              0
  54  Cabinet         1.658          2.049          -1.206         0              0              0
  55  Cabinet         1.658          2.049          -1.893         0              0              0
  56  Toaster         0.131          0.900          -1.589         0              0              0
  57  Window          -0.372         1.588          3.349          90             0              0
  58  Window          0.782          1.741          -1.893         90             0              0
  59  GarbageCan      1.770          -0.029         1.685          0              270            0
  60  SinkBasin       1.091          0.740          -1.599         0              0              0
  61  StoveKnob       1.364          0.821          0.086          48.421         270            0
  62  StoveKnob       1.364          0.821          -0.180         48.421         270            0
  63  StoveKnob       1.364          0.821          -0.317         48.421         270            0
  64  StoveKnob       1.364          0.821          -0.054         48.421         270            0
  65  Microwave       1.752          0.900          -0.843         0              270            0
  66  LightSwitch     2.0            1.261          3.094          0              270            0
  67  CoffeeMachine   0.501          0.900          -1.600         0              0              0
  68  Fridge          -0.533         0.0            -1.554         0              0              0
  69  Chair           1.068          0.000          1.752          0              191.622        0
  70  Faucet          1.110          1.138          -1.764         0              270            0
  71  Chair           0.357          0.000          1.710          0              178.899        0
  72  NorthWall
  73  EastWall
  74  SouthWall
  75  WestWall

Plan:
STEP 1: Turn around and go toward the door, then turn left and go to the fridge, then turn left to go to the microwave. | STEP 2: Pick up the tomato on the counter, to the right of the microwave. | STEP 3: Turn right to face the sink. | STEP 4: Clean the tomato inside the sink. | STEP 5: Turn right and go forward, then turn left to face the counter with the coffee maker. | STEP 6: Place the tomato on the counter. | END