Task: Rinse a tomato and place it 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           -3.25          0.900          1.25           0              0              0
   1  Potato          -1.642         0.962          0.221          0              0              0              73
   2  Potato          -3.742         1.155          0.095          0              0              0              58
   3  Ladle           -1.553         0.970          0.428          0              0              0              73
   4  ButterKnife     -0.785         1.048          3.042          0              0              0              51
   5  Pot             -1.199         0.935          0.567          0              0              0              73
   6  Pot             -3.475         1.133          0.48           0              90             0              49
   7  Spoon           -1.995         0.096          0.545          0              90             0              53
   8  Egg             -0.168         1.078          2.369          0              0              0              51
   9  Egg             -1.642         0.961          0.359          0              0              0              73
  10  Cup             -3.307         1.558          2.849          0              90             0              68
  11  Plate           -3.572         1.285          3.132          0              90             0              68
  12  Plate           -1.156         0.047          0.608          0              0              0              55
  13  Knife           -1.288         0.963          0.359          0              0              0              73
  14  Tomato          -0.662         1.088          2.144          0              0              0              51
  15  Tomato          -3.747         0.153          2.008          0              0              0              72
  16  SaltShaker      -0.908         1.043          2.144          0              0              0              51
  17  SaltShaker      -2.011         1.121          0.662          0              0              0              61
  18  PepperShaker    -0.168         1.043          2.144          0              0              0              51
  19  PepperShaker    -0.883         1.121          0.478          0              0              0              63
  20  Bread           -0.662         1.133          2.817          0              0              0              51
  21  Mug             -1.483         0.044          0.608          0              0              0              66
  22  Apple           -3.506         1.629          3.132          0              90             0              68
  23  Apple           -2.514         1.192          0.662          0              0              0              61
  24  Fork            -0.785         1.048          2.817          0              0              0              51
  25  SoapBottle      -1.948         0.488          0.512          0              0              0              52
  26  Pot             -3.572         1.566          2.920          0              90             0              68
  27  Ladle           -0.785         1.087          1.920          0              0              0              51
  28  Potato          -3.593         0.142          2.038          0              0              0              72
  29  Plate           -1.235         0.047          0.381          0              0              0              55
  30  Bread           -0.908         1.134          3.266          0              0              0              51
  31  Lettuce         -0.662         1.124          2.593          0              0              0              51
  32  Spatula         -0.168         1.062          1.920          0              0              0              51
  33  Pan             -0.266         1.038          2.561          0              0              0              51
  34  Egg             -3.644         0.142          1.978          0              0              0              72
  35  Cup             -3.373         0.909          2.920          0              90             0              68
  36  SaltShaker      -2.137         1.121          0.567          0              0              0              61
  37  Knife           -2.388         1.157          0.662          0              0              0              61
  38  Bowl            -3.307         1.284          3.132          0              90             0              68
  39  PepperShaker    -2.088         0.899          0.645          0              0              0              59
  40  ButterKnife     -2.6           1.113          0.577          0              315            0              61
  41  Apple           -0.203         1.295          0.475          0              0              0              74
  42  Tomato          -0.292         1.087          2.144          0              0              0              51
  43  DishSponge      -0.538         1.046          2.593          0              0              0              51
  44  Spoon           -2.089         0.489          0.579          0              0              0              52
  45  Mug             -1.522         0.044          0.381          0              0              0              66
  46  StoveKnob       -3.322         1.053          0.709          45             0              0
  47  StoveBurner     -3.474         1.097          0.227          0              180            0
  48  Sink            -1.394         0.982          0.439          0              0              0
  49  StoveBurner     -3.474         1.097          0.479          0              180            0
  50  StoveKnob       -3.164         1.053          0.709          45             0              0
  51  DiningTable     -0.620         0.017          2.486          0              0              0
  52  Drawer          -2.043         0.608          0.594          0              0              0
  53  Drawer          -2.043         0.216          0.594          0              0              0
  54  Drawer          -2.498         0.216          0.594          0              0              0
  55  Cabinet         -1.001         0.393          0.734          0              0              0
  56  StoveBurner     -3.000         1.097          0.480          0              0              0
  57  StoveKnob       -3.492         1.053          0.709          45             0              0
  58  CounterTop      -3.856         1.160          0.379          0              0              0
  59  Drawer          -2.043         0.937          0.599          0              0              0
  60  Drawer          -2.509         0.937          0.599          0              0              0
  61  CounterTop      -2.280         1.160          0.379          0              0              0
  62  StoveKnob       -2.985         1.053          0.709          45             0              0
  63  CounterTop      -0.514         1.160          0.492          0              0              0
  64  Drawer          -2.498         0.608          0.594          0              0              0
  65  StoveBurner     -3.000         1.097          0.227          0              0              0
  66  Cabinet         -1.733         0.393          0.734          0              0              0
  67  CoffeeMachine   -0.153         1.038          3.193          0              270            0
  68  Fridge          -3.519         0.0            2.717          0              90             0
  69  Window          -1.394         1.924          0.014          90             0              0
  70  Window          -3.266         1.924          0.014          90             0              0
  71  Toaster         -0.225         1.038          2.865          0              270            0
  72  GarbageCan      -3.696         0.002          2.008          0              0              0
  73  SinkBasin       -1.389         0.921          0.428          0              0              0
  74  Microwave       -0.366         1.113          0.430          0              0              0
  75  HousePlant      -2.155         1.101          0.169          0              332.897        0
  76  LightSwitch     -2.584         1.299          3.5            0              180            0
  77  Faucet          -1.393         1.373          0.168          0              270            0
  78  NorthWall
  79  SouthWall
  80  SouthWall

Plan:
STEP 1: Turn around and go across to the brown table. | STEP 2: Pick up the tomato from the right side of the table. | STEP 3: Carry the tomato and turn right to go to the sink. | STEP 4: Place the tomato in the sink and turn on the water. Turn the water off and pick up the tomato. | STEP 5: Carry the tomato and turn around. Go back to the brown table on the right. | STEP 6: Place the tomato on the table, behind the loaf of bread on the left side. | END