Task: Place a washed tomato in the waste basket

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -2.5           0.914          2.25           0              180            0
   1  Pan             -0.323         0.985          3.988          0              270            0              69
   2  Potato          -1.127         0.923          0.564          0              90             0              79
   3  DishSponge      -2.511         0.080          3.664          0              0              0              54
   4  DishSponge      -3.191         0.083          1.591          0              0              0              62
   5  ButterKnife     -2.022         0.915          4.062          0              0              0              43
   6  Spatula         -1.391         0.906          0.152          0              270            0              79
   7  Fork            -3.559         0.916          1.273          0              0              0              52
   8  Pot             -3.424         0.966          1.971          0              0              0              51
   9  Egg             -0.673         1.576          3.999          0              180            0              69
  10  Cup             -3.571         1.454          3.504          0              0              0              60
  11  SoapBottle      -3.463         0.915          1.273          0              0              0              52
  12  SoapBottle      -3.526         1.994          2.054          0              0              0              57
  13  Bowl            -1.127         0.890          0.255          0              90             0              79
  14  SaltShaker      -1.787         0.887          0.358          0              90             0              79
  15  SaltShaker      -3.152         0.079          1.513          0              0              0              62
  16  PepperShaker    -1.127         0.887          0.049          0              90             0              79
  17  PepperShaker    -3.426         1.991          2.479          0              0              0              58
  18  Mug             -3.442         1.541          2.016          0              90             0              74
  19  Mug             -3.425         1.989          1.835          0              0              0              57
  20  Egg             -1.391         0.926          -0.053         0              90             0              79
  21  Knife           -3.176         0.939          3.172          0              0              0              43
  22  Fork            -3.368         0.916          1.273          0              90             0              52
  23  Bread           -3.559         0.996          3.663          0              0              0              43
  24  Potato          -3.654         0.948          1.440          0              0              0              52
  25  Plate           -3.176         0.919          1.357          0              0              0              52
  26  Pot             -3.424         0.966          2.374          0              0              0              49
  27  Kettle          -3.143         0.966          1.971          0              0              0              63
  28  WineBottle      -1.523         0.892          0.564          0              90             0              79
  29  Bowl            -3.473         1.545          2.224          0              90             0              74
  30  Tomato          -0.206         1.342          4.097          0              180            0              69
  31  Cup             -3.272         0.915          1.106          0              0              0              52
  32  Spatula         -1.259         0.906          0.152          0              180            0              79
  33  SoapBottle      -1.523         0.891          -0.053         0              90             0              79
  34  Lettuce         -3.176         1.001          3.827          0              0              0              43
  35  Pan             -2.614         0.902          3.620          0              0              0              43
  36  Apple           -0.556         1.333          4.027          0              180            0              69
  37  SaltShaker      -0.994         0.887          0.461          0              90             0              79
  38  PepperShaker    -1.127         0.887          -0.053         0              90             0              79
  39  ButterKnife     -1.655         0.891          0.152          0              180            0              79
  40  DishSponge      -3.508         1.458          1.605          0              0              0              61
  41  Spoon           -1.655         0.892          0.461          0              90             0              79
  42  Mug             -2.402         0.910          3.675          0              0              0              43
  43  CounterTop      -3.381         0.950          3.335          0              0              0
  44  Drawer          -3.121         0.775          1.357          0              0              0
  45  Drawer          -3.121         0.777          2.916          0              0              0
  46  StoveBurner     -3.148         0.958          2.374          0              0              0
  47  Sink            -1.797         0.917          3.660          0              0              0
  48  Cabinet         -1.421         0.388          3.459          0              0              0
  49  StoveBurner     -3.424         0.958          2.374          0              0              0
  50  Cabinet         -3.365         1.931          2.676          0              0              0
  51  StoveBurner     -3.424         0.958          1.971          0              0              0
  52  CounterTop      -3.381         0.951          1.356          0              0              0
  53  Drawer          -3.121         0.781          3.295          0              0              0
  54  Cabinet         -2.205         0.388          3.459          0              0              0
  55  Cabinet         -2.963         0.388          3.459          0              0              0
  56  Cabinet         -2.992         0.388          2.683          0              0              0
  57  Cabinet         -3.352         2.205          1.715          0              0              0
  58  Cabinet         -3.352         2.205          2.653          0              0              0
  59  Cabinet         -2.189         0.388          3.466          0              0              0
  60  Cabinet         -3.365         1.931          3.963          0              0              0
  61  Cabinet         -3.365         1.931          1.056          0              0              0
  62  Cabinet         -2.992         0.388          1.037          0              0              0
  63  StoveBurner     -3.143         0.958          1.971          0              0              0
  64  StoveKnob       -3.599         1.110          2.017          0              0              105.000
  65  StoveKnob       -3.599         1.110          1.867          0              0              105.000
  66  StoveKnob       -3.599         1.110          2.267          0              0              105.000
  67  StoveKnob       -3.599         1.110          2.427          0              0              105.000
  68  Toaster         -2.654         0.902          4.064          0              180            0
  69  Fridge          -0.439         0.014          3.996          0              0              0
  70  LightSwitch     0.25           1.383          2.085          0              270            0
  71  Window          -1.430         1.338          -0.347         90             0              0
  72  CoffeeMachine   -3.550         0.902          3.274          0              90             0
  73  SinkBasin       -1.802         0.778          3.700          0              0              0
  74  Microwave       -3.484         1.430          2.182          0              90             0
  75  GarbageCan      -1.184         -0.020         3.794          0              270            0
  76  Blinds          -1.404         2.092          -0.296         0              0              0
  77  Stool           -1.373         0.014          1.048          1.214          20.754         0
  78  Faucet          -1.788         0.903          3.931          270            90             0
  79  DiningTable     -1.399         0.010          0.238          0              0              0
  80  GarbageBag      -0.291         0.336          -0.034         272.372        348.812        147.313
  81  NorthWall
  82  EastWall
  83  SouthWall
  84  WestWall

Plan:
STEP 1: turn to the left and go to the wall and turn to the left and go to the refrigerator | STEP 2: open the refrigerator door and take out the tomato from the refrigerator and close the refrigerator door | STEP 3: turn to the left and take a few steps and turn to the right facing the sink | STEP 4: put the tomato in the sink and turn on the water to fill the sink and turn off and drain the water and pick up the tomato from the sink | STEP 5: turn to the right and take a step and turn to the left and step to the waste basket | STEP 6: put the tomato in the waste basket. | END