Task: put a washed tomato into a garbage bin

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.25          0.914          2.0            0              0              0
   1  DishSponge      -1.612         0.080          3.664          0              0              0              76
   2  DishSponge      -1.259         0.891          0.564          0              90             0              80
   3  ButterKnife     -2.804         0.904          3.567          0              0              0              44
   4  WineBottle      -3.368         0.916          1.440          0              0              0              53
   5  Spatula         -2.302         0.930          3.890          0              0              0              44
   6  Fork            -3.185         0.745          1.510          0              90             0              45
   7  Egg             -3.272         0.950          3.663          0              0              0              44
   8  Cup             -3.573         1.458          2.771          0              0              0              51
   9  Cup             -0.673         0.986          3.926          0              180            0              70
  10  Knife           -1.259         0.915          0.461          0              180            0              80
  11  Knife           -3.097         0.768          1.510          0              270            0              45
  12  SoapBottle      -1.523         0.891          -0.053         0              90             0              80
  13  SoapBottle      -3.368         0.915          1.189          0              0              0              53
  14  Bowl            -3.540         1.458          1.303          0              0              0              62
  15  Bowl            -1.127         0.890          0.152          0              90             0              80
  16  SaltShaker      -3.176         0.911          3.499          0              0              0              44
  17  SaltShaker      -3.559         0.912          1.607          0              0              0              53
  18  PepperShaker    -0.994         0.887          0.461          0              90             0              80
  19  PepperShaker    -3.573         1.455          3.149          0              0              0              51
  20  Apple           -0.790         1.333          4.133          0              180            0              70
  21  Egg             -1.449         0.950          4.106          0              0              0              44
  22  Knife           -3.214         0.769          1.279          0              90             0              45
  23  Fork            -2.503         0.916          3.998          0              90             0              44
  24  Bread           -1.522         0.963          0.276          0              280.313        0              80
  25  Potato          -1.127         0.923          -0.053         0              90             0              80
  26  Plate           -3.006         0.904          3.677          0              0              0              44
  27  Pot             -3.424         0.966          2.374          0              0              0              50
  28  Kettle          -3.148         0.966          2.374          0              0              0              47
  29  WineBottle      -3.463         0.916          1.440          0              0              0              53
  30  Bowl            -3.559         0.914          1.189          0              0              0              53
  31  Tomato          -0.439         0.791          3.843          0              180            0              70
  32  Cup             -0.790         0.986          3.801          0              180            0              70
  33  Spatula         -3.081         0.930          1.357          0              0              0              53
  34  SoapBottle      -2.460         0.080          3.625          0              0              0              55
  35  Lettuce         -3.176         1.001          1.524          0              0              0              53
  36  Pan             -3.424         0.966          1.971          0              0              0              52
  37  Apple           -3.473         1.606          2.224          0              90             0              75
  38  SaltShaker      -1.711         0.911          4.020          0              0              0              44
  39  PepperShaker    -2.905         0.911          3.890          0              0              0              44
  40  ButterKnife     -1.259         0.891          0.255          0              90             0              80
  41  DishSponge      -3.368         0.915          3.827          0              0              0              44
  42  Spoon           -3.185         0.747          1.279          0              90             0              45
  43  Mug             -3.424         0.945          3.275          0              90             0              44
  44  CounterTop      -3.381         0.950          3.335          0              0              0
  45  Drawer          -3.121         0.775          1.357          0              0              0
  46  Drawer          -3.121         0.777          2.916          0              0              0
  47  StoveBurner     -3.148         0.958          2.374          0              0              0
  48  Sink            -1.797         0.917          3.660          0              0              0
  49  Cabinet         -1.421         0.388          3.459          0              0              0
  50  StoveBurner     -3.424         0.958          2.374          0              0              0
  51  Cabinet         -3.365         1.931          2.676          0              0              0
  52  StoveBurner     -3.424         0.958          1.971          0              0              0
  53  CounterTop      -3.381         0.951          1.356          0              0              0
  54  Drawer          -3.121         0.781          3.295          0              0              0
  55  Cabinet         -2.205         0.388          3.459          0              0              0
  56  Cabinet         -2.963         0.388          3.459          0              0              0
  57  Cabinet         -2.992         0.388          2.683          0              0              0
  58  Cabinet         -3.352         2.205          1.715          0              0              0
  59  Cabinet         -3.352         2.205          2.653          0              0              0
  60  Cabinet         -2.189         0.388          3.466          0              0              0
  61  Cabinet         -3.365         1.931          3.963          0              0              0
  62  Cabinet         -3.365         1.931          1.056          0              0              0
  63  Cabinet         -2.992         0.388          1.037          0              0              0
  64  StoveBurner     -3.143         0.958          1.971          0              0              0
  65  StoveKnob       -3.599         1.110          2.017          0              0              105.000
  66  StoveKnob       -3.599         1.110          1.867          0              0              105.000
  67  StoveKnob       -3.599         1.110          2.267          0              0              105.000
  68  StoveKnob       -3.599         1.110          2.427          0              0              105.000
  69  Toaster         -2.654         0.902          4.064          0              180            0
  70  Fridge          -0.439         0.014          3.996          0              0              0
  71  LightSwitch     0.25           1.383          2.085          0              270            0
  72  Window          -1.430         1.338          -0.347         90             0              0
  73  CoffeeMachine   -3.550         0.902          3.274          0              90             0
  74  SinkBasin       -1.802         0.778          3.700          0              0              0
  75  Microwave       -3.484         1.430          2.182          0              90             0
  76  GarbageCan      -1.184         -0.020         3.794          0              270            0
  77  Blinds          -1.404         2.092          -0.296         0              0              0
  78  Stool           -1.373         0.014          1.048          1.214          20.754         0
  79  Faucet          -1.788         0.903          3.931          270            90             0
  80  DiningTable     -1.399         0.010          0.238          0              0              0
  81  GarbageBag      -0.291         0.336          -0.034         272.372        348.812        147.313
  82  NorthWall
  83  EastWall
  84  SouthWall
  85  WestWall

Plan:
STEP 1: walk to face fridge | STEP 2: pick up tomato from inside fridge | STEP 3: walk to face sink | STEP 4: wash tomato in sink, pick up tomato from sink | STEP 5: walk slightly right to face garbage bin | STEP 6: put tomato into garbage bin | END