Task: Move a tomato from the trash to 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           -0.5           0.901          1.75           0              270            0
   1  Potato          -0.191         1.049          0.171          0              0              0              72
   2  Potato          -2.480         0.926          2.573          0              0              0              74
   3  DishSponge      -0.326         0.661          0.519          0              0              0              42
   4  DishSponge      -0.143         0.900          3.133          0              0              0              76
   5  ButterKnife     -2.323         0.662          0.409          0              0              0              61
   6  Spatula         -2.480         0.915          2.706          0              0              0              74
   7  Spoon           -0.572         0.901          3.133          0              0              0              76
   8  Spoon           -1.007         0.797          0.392          0              0              0              71
   9  Fork            -1.094         0.796          0.281          0              90             0              71
  10  Pot             -1.770         0.927          0.264          0              180            0              53
  11  Egg             -0.835         0.831          0.392          0              0              0              71
  12  Egg             -1.180         0.829          0.226          0              0              0              71
  13  Plate           -1.801         1.777          0.251          0              0              0              48
  14  SoapBottle      -2.686         0.889          2.045          0              0              0              74
  15  Tomato          -2.781         0.117          0.352          0              26.101         0              67
  16  SaltShaker      -2.785         0.931          3.302          0              0              0              60
  17  PepperShaker    -0.380         0.658          0.245          0              0              0              42
  18  Bread           -2.686         0.957          2.309          0              0              0              74
  19  Apple           -0.350         1.079          0.267          0              0              0              72
  20  Apple           -0.400         0.956          2.530          0              0              0              76
  21  Egg             -2.864         0.968          3.209          0              0              0              60
  22  Plate           -0.446         0.890          2.927          0              0              0              76
  23  Fork            -0.218         0.662          0.409          0              0              0              42
  24  Bread           -2.869         0.940          1.981          0              0              2.284          74
  25  Apple           -2.628         0.991          3.488          0              0              0              60
  26  Lettuce         -2.377         0.980          1.913          0              0              0              74
  27  Spatula         -2.269         0.677          0.409          0              0              0              61
  28  Knife           -2.706         0.961          3.302          0              90             0              60
  29  Potato          -1.007         0.822          0.337          0              0              0              71
  30  Tomato          -2.722         1.250          4.649          0              90             0              70
  31  Cup             -0.657         0.900          3.334          0              0              0              76
  32  SaltShaker      -0.084         1.769          0.160          0              0              0              50
  33  PepperShaker    -0.692         1.769          0.342          0              0              0              51
  34  ButterKnife     -1.266         0.795          0.337          0              0              0              71
  35  SoapBottle      -2.995         0.900          2.573          0              0              0              74
  36  Pan             -0.254         0.928          4.672          0              0              0              55
  37  DishSponge      -1.824         0.661          0.464          0              0              0              56
  38  Pot             -0.535         0.928          4.274          0              0              0              57
  39  Spoon           -2.628         0.936          3.673          0              0              0              60
  40  Mug             -2.995         0.895          2.309          0              0              0              74
  41  Bowl            -2.583         0.897          1.913          0              180            0              74
  42  Drawer          -0.325         0.696          0.413          0              0              0
  43  Cabinet         -0.595         0.490          0.648          0              0              0
  44  Cabinet         -0.555         0.490          0.646          0              0              0
  45  Cabinet         -1.591         0.490          0.646          0              0              0
  46  Cabinet         -1.554         0.490          0.646          0              0              0
  47  Cabinet         -2.550         0.490          0.646          0              0              0
  48  Cabinet         -1.514         2.046          0.392          0              0              0
  49  Cabinet         -2.474         2.046          0.392          0              0              0
  50  Cabinet         -1.478         2.046          0.392          0              0              0
  51  Cabinet         -0.518         2.046          0.392          0              0              0
  52  Cabinet         -0.479         2.046          0.392          0              0              0
  53  CounterTop      -1.366         0.952          0.349          0              0              0
  54  Sink            -1.108         0.926          0.340          0              0              0
  55  StoveBurner     -0.254         0.922          4.672          0              0              0
  56  Drawer          -1.824         0.696          0.413          0              0              0
  57  StoveBurner     -0.535         0.922          4.274          0              0              0
  58  StoveBurner     -0.254         0.922          4.274          0              0              0
  59  StoveBurner     -0.536         0.922          4.672          0              0              0
  60  CounterTop      -2.780         0.971          3.487          0              0              0
  61  Drawer          -2.323         0.696          0.413          0              0              0
  62  StoveKnob       -0.064         1.090          4.632          0              0              73.865
  63  StoveKnob       -0.064         1.090          4.782          0              0              73.865
  64  StoveKnob       -0.064         1.090          4.382          0              0              73.865
  65  StoveKnob       -0.064         1.090          4.222          0              0              73.865
  66  Toaster         -0.286         0.861          3.520          0              270            0
  67  GarbageCan      -2.816         -0.014         0.370          358.702        26.614         2.400
  68  LightSwitch     -0.064         1.447          1.996          0              270            0
  69  Window          -3.075         1.593          1.361          90             90             0
  70  Fridge          -2.802         0.0            4.427          0              0              0
  71  SinkBasin       -1.106         0.785          0.337          0              0              0
  72  Microwave       -0.358         0.917          0.224          0              0              0
  73  CoffeeMachine   -2.938         0.925          3.605          0              90             0
  74  DiningTable     -2.733         -0.003         2.607          0              270            0
  75  Faucet          -1.077         0.920          0.028          270            270            0
  76  DiningTable     -0.488         -0.003         3.182          0              270            0
  77  NorthWall
  78  EastWall
  79  SouthWall
  80  WestWall

Plan:
STEP 1: Move to the black trash can to the right of the counter | STEP 2: Pick up the tomato inside of  the black trash can | STEP 3: Carry the tomato to the white table left of the fridge | STEP 4: Place the tomato on the table to the front right of the round purple vegetable | END