Task: Put a clean tomato on top of the black shelving unit.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.25          0.869          -3.0           0              90             0
   1  Potato          0.961          0.697          0.265          0              0              0              46
   2  Potato          -1.886         0.734          -1.307         0              0              0              77
   3  Spatula         0.901          0.680          0.387          0              90             0              46
   4  Spatula         0.757          0.787          -0.735         0              90             0              64
   5  Pot             -2.097         0.930          0.785          0              0              0              43
   6  Knife           1.084          0.906          -0.838         0              90             0              41
   7  Tomato          0.785          0.713          -1.958         0              270            0              61
   8  Tomato          0.669          1.207          -1.802         0              270            0              61
   9  Tomato          0.746          0.514          -1.725         0              270            0              61
  10  SoapBottle      -2.054         0.701          -0.983         0              0              0              77
  11  SoapBottle      -1.635         0.701          -1.416         0              0              0              77
  12  Bowl            -1.056         0.899          1.187          0              270            0              67
  13  Bowl            0.149          0.899          0.929          0              270            0              67
  14  PepperShaker    0.994          1.460          0.534          0              0              0              53
  15  PepperShaker    -1.803         0.698          -1.091         0              0              0              77
  16  SaltShaker      -0.051         0.896          0.843          0              270            0              67
  17  Lettuce         -0.252         0.987          1.015          0              270            0              67
  18  Apple           0.746          1.428          -2.113         0              270            0              61
  19  Pot             -1.555         0.930          1.049          0              0              0              50
  20  Plate           0.732          0.019          -0.119         0              0              0              51
  21  Fork            0.720          0.761          -0.124         0              0              0              40
  22  SoapBottle      -1.260         0.051          -3.647         0              270            0              56
  23  Apple           -2.002         0.852          -3.705         0              0              0              63
  24  Pan             0.740          -0.007         -0.596         0              0              0              44
  25  Egg             0.729          0.920          -0.176         0              0              0              41
  26  Spatula         -1.803         0.716          -0.983         0              180            0              77
  27  Potato          -1.843         0.832          -3.640         0              0              0              63
  28  Cup             0.842          0.014          -0.898         0              0              0              44
  29  SaltShaker      -0.855         0.896          1.187          0              270            0              67
  30  PepperShaker    0.661          0.661          0.630          0              0              0              46
  31  ButterKnife     0.757          0.772          -0.680         0              270            0              64
  32  DishSponge      -0.855         0.900          0.758          0              270            0              67
  33  Bread           -0.873         0.931          0.978          0              24.231         0              67
  34  Lettuce         0.715          0.859          -0.790         0              270            0              64
  35  Tomato          0.824          0.514          -1.958         0              270            0              61
  36  Spoon           0.817          0.761          0.002          0              0              0              40
  37  Knife           0.866          0.783          -0.252         0              90             0              40
  38  Mug             0.698          0.941          -1.360         0              270            0              54
  39  Bowl            0.721          0.663          0.387          0              0              0              46
  40  Drawer          0.706          0.766          -0.125         0              0              0
  41  CounterTop      0.792          0.919          -0.108         0              0              0
  42  Mirror          1.093          1.602          -0.643         0              0              0
  43  StoveBurner     -2.096         0.890          0.785          0              0              0
  44  Cabinet         0.507          0.345          -0.426         0              0              0
  45  StoveBurner     -1.552         0.890          0.785          0              0              0
  46  SideTable       0.770          -0.030         0.443          0              0              0
  47  Sink            0.753          0.882          -0.680         0              0              0
  48  StoveBurner     -2.096         0.890          1.049          0              0              0
  49  GarbageBag      -0.770         0.287          -3.541         270            73.521         83.489
  50  StoveBurner     -1.554         0.890          1.049          0              0              0
  51  Cabinet         0.507          0.345          0.156          0              0              0
  52  Cabinet         0.717          1.822          -0.398         0              0              0
  53  Cabinet         0.717          1.822          0.669          0              0              0
  54  CoffeeMachine   0.873          0.865          -1.256         0              270            0
  55  Toaster         -0.522         0.886          1.081          0              180            0
  56  GarbageCan      -1.261         -0.031         -3.610         0              270            0
  57  StoveKnob       -1.898         0.866          0.519          311.864        0              180
  58  StoveKnob       -1.754         0.866          0.519          311.864        0              180
  59  StoveKnob       -2.058         0.866          0.519          311.864        0              180
  60  StoveKnob       -1.600         0.866          0.519          311.864        0              180
  61  Fridge          0.680          -0.031         -1.957         0              0              0
  62  Window          -2.424         1.639          -2.453         90             270            0
  63  Microwave       -1.994         0.690          -3.651         0              0              0
  64  SinkBasin       0.757          0.762          -0.688         0              270            0
  65  LightSwitch     1.102          1.368          -3.737         0              270            0
  66  Shelf           -0.350         0.124          0.857          0              0              0
  67  DiningTable     -0.350         -0.025         0.857          0              0              0
  68  DiningTable     -1.909         -0.032         -3.507         0              0              0
  69  Blinds          -2.343         2.151          -2.437         0              270            0
  70  AluminumFoil    0.762          0.224          0.337          0              184.594        0
  71  AluminumFoil    0.751          0.225          0.287          0              0              0
  72  AluminumFoil    0.839          0.224          0.392          0              195.128        0
  73  Shelf           0.771          0.226          0.445          0              0              0
  74  Shelf           0.771          0.456          0.446          0              0              0
  75  Faucet          1.025          0.873          -0.678         270            180            0
  76  Shelf           -0.350         0.497          0.857          0              0              0
  77  DiningTable     -1.929         -0.035         -1.398         0              90             0
  78  Chair           -1.610         -0.024         -1.424         358.454        297.426        0
  79  NorthWall
  80  EastWall
  81  SouthWall
  82  WestWall

Plan:
STEP 1: Turn left and begin walking across the room, then turn right and walk up to the fridge. | STEP 2: Open the fridge door and take the closest tomato on the top shelf of the lower compartment out of the fridge. | STEP 3: Turn left and begin walking across the room, then hang a right and walk up to the sink. | STEP 4: Put the tomato in the sink basin and turn on the water, after a couple seconds turn the water off and remove the now clean tomato. | STEP 5: Turn around and begin walking across the room, then hang a right and walk over to the table, then turn right to face the small black shelving unit in between the counter and trash bag. | STEP 6: Put the clean tomato on the top of the black shelving unit to the left of the bowl. | END