Task: Put a clean tomato 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           -4.0           0.900          -1.75          0              180            0
   1  Pan             -1.515         0.935          -3.752         0              90             0              44
   2  Pen             -2.324         0.926          -2.345         0              0              0              73
   3  ButterKnife     -2.324         0.923          -1.884         0              0              0              73
   4  WineBottle      -2.666         0.924          -2.115         0              0              0              73
   5  Pot             -1.129         0.935          -3.498         0              0              0              46
   6  Spatula         -2.324         0.938          -2.345         0              0              0              73
   7  Plate           -2.780         0.925          -1.654         0              0              0              73
   8  Cup             -2.780         0.922          -2.115         0              0              0              73
   9  Cup             -0.246         1.389          -0.560         0              270            0              65
  10  SoapBottle      -2.438         0.922          -0.963         0              0              0              73
  11  SoapBottle      -1.975         0.025          -3.763         0              0              0              64
  12  Tomato          -0.392         1.454          -0.560         0              270            0              65
  13  Bowl            -1.601         1.968          -3.851         0              0              0              57
  14  Bowl            -0.671         0.914          -3.626         0              0              0              48
  15  Bread           -0.295         1.151          -0.874         0              270            0              65
  16  PepperShaker    -0.749         0.742          -3.556         0              0              0              47
  17  PepperShaker    -2.210         0.919          -1.654         0              0              0              73
  18  Apple           -1.151         1.703          -3.837         0              0              0              61
  19  Lettuce         -2.562         1.002          -1.677         36.385         0              0              73
  20  Glassbottle     -0.436         0.916          -2.563         0              0              0              48
  21  Egg             -0.447         0.831          -1.786         0              270            0              66
  22  Pen             -2.210         0.926          -1.423         0              0              0              73
  23  Fork            -0.295         0.788          -1.858         0              0              0              66
  24  SoapBottle      -0.716         0.080          -3.623         0              0              0              52
  25  Pencil          -0.661         0.747          -3.586         0              270            0              47
  26  WineBottle      -2.552         0.924          -2.115         0              0              0              73
  27  Spatula         -2.438         0.938          -1.654         0              270            0              73
  28  Bread           -0.414         0.952          -3.625         0              0              0              48
  29  Tomato          -2.438         0.987          -1.423         0              0              0              73
  30  Pan             -2.174         0.913          -1.099         0              0              0              73
  31  Cup             -0.302         0.796          -2.008         0              270            0              66
  32  Pot             -0.392         1.390          -0.769         0              270            0              65
  33  SaltShaker      -2.780         0.919          -1.193         0              0              0              73
  34  Potato          -0.295         1.422          -0.979         0              270            0              65
  35  PepperShaker    -2.780         0.919          -2.345         0              0              0              73
  36  ButterKnife     -2.552         0.923          -1.193         0              0              0              73
  37  DishSponge      -0.230         1.970          -2.135         0              0              0              55
  38  Spoon           -2.096         0.924          -1.884         0              0              0              73
  39  Plate           -2.780         0.925          -1.884         0              0              0              73
  40  Knife           -2.666         0.946          -2.345         0              0              0              73
  41  Mug             -0.392         1.093          -1.084         0              270            0              65
  42  Bowl            -2.438         0.922          -1.193         0              0              0              73
  43  Cabinet         -0.582         0.388          -1.804         0              0              0
  44  StoveBurner     -1.515         0.928          -3.752         0              90             0
  45  StoveBurner     -1.515         0.928          -3.497         0              0              0
  46  StoveBurner     -1.129         0.928          -3.498         0              0              0
  47  Drawer          -0.749         0.779          -3.551         0              0              0
  48  CounterTop      -0.303         0.951          -2.793         0              0              0
  49  Cabinet         -0.883         2.140          -3.687         0              0              0
  50  Cabinet         -0.312         2.140          -1.543         0              0              0
  51  Sink            -0.349         0.907          -2.014         0              0              0
  52  Cabinet         -0.877         0.388          -3.422         0              0              0
  53  Cabinet         -0.582         0.388          -2.197         0              0              0
  54  Cabinet         -0.584         0.388          -3.396         0              0              0
  55  Cabinet         -0.312         2.140          -2.481         0              0              0
  56  Cabinet         -0.330         1.921          -3.390         0              0              0
  57  Cabinet         -1.764         2.140          -3.687         0              0              0
  58  StoveBurner     -1.129         0.928          -3.752         0              90             0
  59  Drawer          -0.454         0.779          -3.268         0              0              0
  60  Cabinet         -0.302         1.916          -2.501         0              0              0
  61  Microwave       -1.317         1.517          -3.801         0              1.440          0
  62  CoffeeMachine   -0.153         0.903          -3.144         0              270            0
  63  LightSwitch     -4.323         1.319          0.0            0              180            0
  64  GarbageCan      -1.943         -7.152         -3.763         0              0              0
  65  Fridge          -0.330         0.0            -0.769         0              270            0
  66  SinkBasin       -0.350         0.786          -2.018         0              270            0
  67  StoveKnob       -1.582         1.082          -3.958         72.287         0              0
  68  StoveKnob       -1.177         1.082          -3.958         72.287         0              0
  69  StoveKnob       -1.424         1.082          -3.958         72.287         0              0
  70  StoveKnob       -1.028         1.082          -3.958         72.287         0              0
  71  Toaster         -0.181         0.903          -2.764         0              270            0
  72  Window          -2.503         1.782          -4.185         90             180            0
  73  DiningTable     -2.432         0.000          -1.694         0              270            0
  74  Shelf           -2.432         0.150          -1.694         0              270            0
  75  Blinds          -2.536         2.699          -3.959         0              0              0
  76  Faucet          -0.079         0.904          -2.034         270            180            0
  77  Chair           -3.264         0.002          -2.094         0              53.280         0
  78  Chair           -3.240         0.002          -1.253         0              117.257        0
  79  Shelf           -2.432         0.523          -1.694         0              270            0
  80  NorthWall
  81  EastWall
  82  SouthWall
  83  WestWall

Plan:
STEP 1: Turn around and walk to the wall then turn right and walk past the green table then turn right and take two steps then turn right to face the green table. | STEP 2: Pick up the tomato that's to the right of the spatula on the table. | STEP 3: Turn left and walk a step forward then turn left and walk to the sink. | STEP 4: Wash the tomato in the sink and then pick it back up and shut off the water. | STEP 5: Turn around and walk back to the green table.  | STEP 6: Put the tomato under the salt shaker. | END