Task: rinse off a tomato and put it into the fridge

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.0           0.900          1.25           0              180            0
   1  ButterKnife     0.847          0.992          0.212          0              0              0              53
   2  Pot             1.32           0.988          3.848          0              0              0              52
   3  Spatula         0.192          0.786          0.396          0              90             0              50
   4  Spatula         1.497          0.906          2.525          0              0              0              76
   5  Fork            0.124          0.772          0.618          0              270            0              50
   6  Cup             0.055          0.140          0.201          0              0              0              62
   7  Plate           1.238          0.141          2.086          0              0              0              42
   8  Plate           1.225          0.993          0.213          0              0              0              53
   9  Tomato          0.544          1.042          0.212          0              0              0              53
  10  SoapBottle      -0.687         0.992          0.486          0              180            0              53
  11  PepperShaker    1.573          0.135          2.233          0              0              0              65
  12  PepperShaker    -0.134         1.574          0.207          0              0              0              66
  13  SaltShaker      1.412          1.572          1.471          0              0              0              63
  14  SaltShaker      0.150          0.755          6.666          0              270            0              89
  15  Lettuce         -0.467         0.848          6.541          0              270            0              89
  16  Lettuce         1.493          1.081          0.440          0              0              0              53
  17  Mug             1.966          1.510          5.626          0              270            0              75
  18  Bowl            2.094          1.514          5.251          0              270            0              75
  19  Bread           -0.289         0.829          6.786          0              135            0              89
  20  Egg             0.064          1.147          0.245          0              0              0              69
  21  Knife           1.493          1.022          3.417          0              0              0              53
  22  Fork            -0.096         0.760          6.787          0              90             0              89
  23  Apple           1.497          0.965          1.983          0              90             0              76
  24  Kettle          1.562          0.988          3.848          0              0              0              47
  25  Plate           1.019          1.580          0.251          0              0              0              60
  26  SaltShaker      -0.467         0.755          6.416          0              270            0              89
  27  Lettuce         0.212          0.848          6.196          0              135            0              89
  28  SoapBottle      -0.552         0.144          0.277          0              0              0              61
  29  Spatula         1.292          0.786          3.223          0              0              0              46
  30  PaperTowelRoll  -0.467         0.864          6.666          0              270            0              89
  31  Pot             1.317          0.988          4.294          0              0              0              48
  32  Potato          2.009          1.550          5.751          0              0              0              75
  33  ButterKnife     1.236          0.771          3.360          0              0              0              46
  34  PepperShaker    -0.308         0.987          0.120          0              0              0              53
  35  Pan             1.313          0.985          4.284          0              0              0              48
  36  Tomato          1.493          1.042          0.213          0              0              0              53
  37  DishSponge      1.135          0.992          4.716          0              0              0              54
  38  Cup             0.080          0.756          6.895          0              225            0              89
  39  Spoon           1.404          0.772          3.223          0              90             0              46
  40  Mug             1.384          1.043          0.847          0              270            0              53
  41  Cabinet         1.307          2.455          4.360          0              0              0
  42  Cabinet         1.054          0.422          1.710          0              0              0
  43  Drawer          1.280          0.808          4.718          0              0              0
  44  Cabinet         1.307          2.455          3.607          0              0              0
  45  Drawer          0.736          0.802          0.521          0              0              0
  46  Drawer          1.276          0.802          3.291          0              0              0
  47  StoveBurner     1.562          0.982          3.848          0              0              0
  48  StoveBurner     1.317          0.982          4.294          0              0              0
  49  Drawer          -0.482         0.802          0.521          0              0              0
  50  Drawer          0.124          0.802          0.521          0              0              0
  51  StoveBurner     1.559          0.982          4.294          0              0              0
  52  StoveBurner     1.320          0.982          3.848          0              0              0
  53  CounterTop      1.391          1.028          0.897          0              0              0
  54  CounterTop      1.391          1.028          4.716          0              0              0
  55  Cabinet         1.054          0.422          4.548          0              0              0
  56  Cabinet         1.317          2.134          0.517          0              0              0
  57  Cabinet         1.317          2.134          4.889          0              0              0
  58  Cabinet         1.317          2.134          3.095          0              0              0
  59  Cabinet         0.443          0.422          0.743          0              0              0
  60  Cabinet         1.270          2.134          0.434          0              0              0
  61  Cabinet         -0.775         0.422          0.743          0              0              0
  62  Cabinet         -0.168         0.422          0.743          0              0              0
  63  Cabinet         1.317          2.134          1.534          0              0              0
  64  Cabinet         1.054          0.422          2.990          0              0              0
  65  Cabinet         1.054          0.422          2.944          0              0              0
  66  Cabinet         -0.263         2.134          0.434          0              0              0
  67  Cabinet         0.252          2.134          0.434          0              0              0
  68  Sink            1.391          1.006          2.326          0              0              0
  69  Microwave       0.108          0.981          0.262          0              0              0
  70  HousePlant      -0.165         0.826          6.444          0              0              0
  71  CoffeeMachine   1.551          0.982          0.953          0              270            0
  72  Toaster         1.473          0.981          4.715          0              270            0
  73  Window          -2.065         1.916          3.626          90             90             0
  74  Window          1.763          2.007          2.299          90             270            0
  75  Fridge          2.035          0.0            5.625          0              0              0
  76  SinkBasin       1.387          0.880          2.338          0              90             0
  77  GarbageCan      2.001          -0.044         6.503          0              0              0
  78  StoveKnob       1.140          0.934          3.987          45             270            0
  79  StoveKnob       1.140          0.934          4.309          45             270            0
  80  StoveKnob       1.140          0.934          4.140          45             270            0
  81  StoveKnob       1.140          0.934          3.824          45             270            0
  82  Vase            -0.226         0.834          6.993          0              0              0
  83  Vase            2.098          0.043          7.070          0              257.232        0
  84  Vase            -0.594         0.835          6.130          0              225            0
  85  LightSwitch     -2.0           1.549          6.045          0              90             0
  86  Safe            2.046          1.072          7.054          0              257.232        0
  87  Faucet          1.534          1.025          2.371          0              294.391        0
  88  Blinds          1.738          2.563          2.312          0              90             0
  89  DiningTable     -0.156         0.000          6.474          0              0              0
  90  Chair           0.291          0.002          6.142          0              310.162        0
  91  GarbageBag      -1.092         0.318          0.268          270            90             83.492
  92  NorthWall
  93  EastWall
  94  SouthWall
  95  WestWall

Plan:
STEP 1: turn left and walk straight then turn right towards the counter top | STEP 2: pick up the tomato next to the microwave on the counter | STEP 3: turn around and walk straight then turn right towards the sink | STEP 4: put the tomato in the sink and turn the water on and then drain the water and remove the tomato from the sink | STEP 5: turn left and walk straight then turn right towards the fridge | STEP 6: open the fridge and put the tomato inside and close the door | END