Task: put a washed tomato onto a counter top

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          2.5            0              180            0
   1  Potato          -2.777         0.960          1.231          0              90             0              68
   2  Potato          -2.504         0.862          0.625          0              0              0              49
   3  Spoon           -2.658         0.824          0.544          0              0              0              49
   4  Spoon           -1.217         0.699          0.377          0              90             0              53
   5  Spatula         -2.658         0.838          0.707          0              180            0              49
   6  Plate           -2.115         0.130          0.440          0              0              0              61
   7  Knife           -1.374         0.849          0.518          0              0              0              49
   8  Tomato          -2.375         0.873          0.500          0              0              0              49
   9  Tomato          -2.726         1.495          1.957          0              90             0              67
  10  SoapBottle      -1.465         0.123          0.323          0              0              0              62
  11  SoapBottle      -0.395         0.054          2.674          0              0              0              69
  12  Bowl            -2.609         0.118          1.510          0              0              0              60
  13  SaltShaker      -2.491         0.818          0.500          0              0              0              49
  14  SaltShaker      -2.735         0.818          0.953          0              0              0              49
  15  PepperShaker    -2.929         1.429          1.588          0              0              0              57
  16  PepperShaker    -2.000         0.120          0.284          0              0              0              61
  17  Bread           -2.781         1.491          2.133          0              90             0              67
  18  Mug             -0.646         0.888          0.367          0              0              0              77
  19  Apple           -0.362         0.129          2.539          0              0              0              69
  20  Apple           -2.844         0.994          1.390          0              90             0              68
  21  Apple           -2.837         0.897          1.957          0              90             0              67
  22  Fork            -0.363         0.697          0.875          0              90             0              51
  23  Ladle           -2.540         1.893          2.368          0              0              0              59
  24  Pan             -0.244         0.829          1.684          0              0              0              48
  25  SoapBottle      -2.714         1.432          0.168          0              45             0              55
  26  Pot             -0.531         0.822          2.096          0              0              0              46
  27  Tomato          -0.092         0.873          1.214          0              0              0              49
  28  Potato          -2.616         1.182          2.221          0              90             0              67
  29  SaltShaker      -2.724         0.818          0.203          0              0              0              49
  30  Plate           -2.586         0.813          0.309          0              0              0              49
  31  Spatula         -2.658         0.838          0.871          0              180            0              49
  32  Knife           -2.044         0.849          0.539          0              0              0              49
  33  Egg             -2.782         1.167          2.309          0              90             0              67
  34  Cup             -0.477         0.823          1.214          0              0              0              49
  35  ButterKnife     -2.493         0.812          0.476          0              50.734         0              49
  36  Lettuce         -1.836         0.741          0.238          0              55.910         0              76
  37  PepperShaker    -1.542         0.818          0.046          0              0              0              49
  38  DishSponge      -0.888         0.709          0.445          0              0              0              52
  39  Bread           -0.979         0.855          0.249          0              29.999         0              49
  40  Spoon           -2.597         0.693          1.511          0              0              0              54
  41  Mug             -2.671         0.819          2.485          0              90             0              67
  42  Bowl            -0.397         0.115          0.914          0              0              0              65
  43  Cabinet         -2.377         2.015          1.720          0              0              0
  44  StoveBurner     -0.244         0.820          2.075          0              180            0
  45  Drawer          -0.402         0.703          1.252          0              0              0
  46  StoveBurner     -0.518         0.820          2.075          0              180            0
  47  Sink            -1.838         0.726          0.343          0              180            0
  48  StoveBurner     -0.244         0.820          1.684          0              0              0
  49  CounterTop      -1.557         0.859          0.277          0              0              0
  50  StoveBurner     -0.518         0.820          1.684          0              0              0
  51  Drawer          -0.404         0.704          0.912          0              0              0
  52  Drawer          -0.861         0.709          0.420          0              0              0
  53  Drawer          -1.133         0.706          0.418          0              0              0
  54  Drawer          -2.589         0.703          1.511          0              0              0
  55  Cabinet         -2.772         1.803          0.508          0              0              0
  56  Cabinet         -2.460         1.803          0.231          0              0              0
  57  Cabinet         -2.781         1.798          0.825          0              0              0
  58  Cabinet         -2.781         1.798          0.815          0              0              0
  59  Cabinet         -2.377         2.009          2.581          0              0              0
  60  Cabinet         -2.442         0.385          1.672          0              0              0
  61  Cabinet         -2.238         0.385          0.564          0              0              0
  62  Cabinet         -1.286         0.385          0.564          0              0              0
  63  Cabinet         -1.262         0.385          0.565          0              0              0
  64  Cabinet         -0.734         0.385          0.565          0              0              0
  65  Cabinet         -0.549         0.385          0.751          0              0              0
  66  Cabinet         -0.549         0.385          1.412          0              0              0
  67  Fridge          -2.782         0.0            2.221          0              0              0
  68  Microwave       -2.794         0.812          1.348          0              90             0
  69  GarbageCan      -0.329         2.205          2.606          0              0              0
  70  StoveKnob       -0.069         0.998          1.773          0              180            107.470
  71  StoveKnob       -0.069         0.998          1.613          0              180            107.470
  72  StoveKnob       -0.069         0.998          2.171          0              180            107.470
  73  StoveKnob       -0.069         0.998          2.024          0              180            107.470
  74  Window          -1.720         1.342          -0.208         90             0              0
  75  Toaster         -0.171         0.812          0.735          0              270            0
  76  SinkBasin       -1.745         0.687          0.295          0              0              0
  77  CoffeeMachine   -0.539         0.812          0.185          0              0              0
  78  LightSwitch     -0.615         1.378          3.0            0              180            0
  79  Faucet          -1.686         0.954          0.176          0              236.223        0
  80  Stool           -1.008         0.008          1.955          0              18.279         0
  81  NorthWall
  82  EastWall
  83  SouthWall
  84  WestWall

Plan:
STEP 1: walk to face counter to the right of stove | STEP 2: pick up tomato from counter top | STEP 3: walk right to face sink | STEP 4: wash tomato in sink, pick up tomato from sink | STEP 5: walk slightly right to face counter to the right of sink | STEP 6: put tomato on counter to the left of tomato already there | END