Task: wash a tomato and put it on the counter

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.75          0.900          1.0            0              0              0
   1  Fork            -0.363         0.697          0.875          0              90             0              46
   2  Fork            -2.840         0.824          0.203          0              0              0              44
   3  Spoon           -1.133         0.699          0.377          0              90             0              48
   4  Cup             -2.540         1.849          1.823          0              0              0              38
   5  Cup             -2.619         1.849          1.978          0              0              0              38
   6  Plate           -2.000         0.130          0.401          0              0              0              56
   7  Plate           -2.648         0.126          1.471          0              0              0              55
   8  SoapBottle      -2.658         0.821          0.953          0              0              0              44
   9  SoapBottle      -1.465         0.123          0.440          0              0              0              57
  10  Bowl            -2.540         1.845          2.368          0              0              0              54
  11  SaltShaker      -0.092         0.818          1.103          0              0              0              44
  12  PepperShaker    -2.858         1.430          0.708          0              0              0              53
  13  Lettuce         -2.837         1.227          2.309          0              90             0              62
  14  Mug             -2.782         0.819          2.485          0              90             0              62
  15  Mug             -2.837         1.138          2.045          0              90             0              62
  16  Apple           -2.844         0.994          1.178          0              90             0              63
  17  Fork            -1.912         0.698          0.295          0              180            0              71
  18  Ladle           -0.371         0.738          0.879          0              45             0              46
  19  Pan             -0.244         0.829          1.684          0              0              0              43
  20  SoapBottle      -0.329         0.054          2.606          0              0              0              64
  21  Pot             -0.531         0.822          2.096          0              0              0              41
  22  Tomato          -2.671         0.874          2.309          0              90             0              62
  23  Potato          -2.671         1.484          2.221          0              90             0              62
  24  SaltShaker      -0.477         0.818          1.326          0              0              0              44
  25  Plate           -2.746         1.439          0.200          0              45             0              50
  26  Spatula         -0.341         0.696          1.194          0              45             0              40
  27  Knife           -2.662         0.819          0.557          90             300.034        0              44
  28  Egg             -2.726         1.469          1.957          0              90             0              62
  29  Cup             -1.580         0.125          0.323          0              0              0              57
  30  ButterKnife     -1.374         0.823          0.518          0              0              0              44
  31  Lettuce         -2.781         1.529          2.045          0              90             0              62
  32  PepperShaker    -0.314         0.818          0.426          0              0              0              44
  33  DishSponge      -2.504         0.823          0.544          0              0              0              44
  34  Bread           -0.979         0.855          0.249          0              29.999         0              44
  35  Spoon           -0.817         0.824          0.352          0              90             0              44
  36  Mug             -0.646         0.888          0.367          0              0              0              72
  37  Bowl            -2.781         0.821          2.045          0              90             0              62
  38  Cabinet         -2.377         2.015          1.720          0              0              0
  39  StoveBurner     -0.244         0.820          2.075          0              180            0
  40  Drawer          -0.402         0.703          1.252          0              0              0
  41  StoveBurner     -0.518         0.820          2.075          0              180            0
  42  Sink            -1.838         0.726          0.343          0              180            0
  43  StoveBurner     -0.244         0.820          1.684          0              0              0
  44  CounterTop      -1.557         0.859          0.277          0              0              0
  45  StoveBurner     -0.518         0.820          1.684          0              0              0
  46  Drawer          -0.404         0.704          0.912          0              0              0
  47  Drawer          -0.861         0.709          0.420          0              0              0
  48  Drawer          -1.133         0.706          0.418          0              0              0
  49  Drawer          -2.589         0.703          1.511          0              0              0
  50  Cabinet         -2.772         1.803          0.508          0              0              0
  51  Cabinet         -2.460         1.803          0.231          0              0              0
  52  Cabinet         -2.781         1.798          0.825          0              0              0
  53  Cabinet         -2.781         1.798          0.815          0              0              0
  54  Cabinet         -2.377         2.009          2.581          0              0              0
  55  Cabinet         -2.442         0.385          1.672          0              0              0
  56  Cabinet         -2.238         0.385          0.564          0              0              0
  57  Cabinet         -1.286         0.385          0.564          0              0              0
  58  Cabinet         -1.262         0.385          0.565          0              0              0
  59  Cabinet         -0.734         0.385          0.565          0              0              0
  60  Cabinet         -0.549         0.385          0.751          0              0              0
  61  Cabinet         -0.549         0.385          1.412          0              0              0
  62  Fridge          -2.782         0.0            2.221          0              0              0
  63  Microwave       -2.794         0.812          1.348          0              90             0
  64  GarbageCan      -0.329         2.205          2.606          0              0              0
  65  StoveKnob       -0.069         0.998          1.773          0              180            107.470
  66  StoveKnob       -0.069         0.998          1.613          0              180            107.470
  67  StoveKnob       -0.069         0.998          2.171          0              180            107.470
  68  StoveKnob       -0.069         0.998          2.024          0              180            107.470
  69  Window          -1.720         1.342          -0.208         90             0              0
  70  Toaster         -0.171         0.812          0.735          0              270            0
  71  SinkBasin       -1.745         0.687          0.295          0              0              0
  72  CoffeeMachine   -0.539         0.812          0.185          0              0              0
  73  LightSwitch     -0.615         1.378          3.0            0              180            0
  74  Faucet          -1.686         0.954          0.176          0              236.223        0
  75  Stool           -1.008         0.008          1.955          0              18.279         0
  76  NorthWall
  77  EastWall
  78  SouthWall
  79  WestWall

Plan:
STEP 1: go to the fridge | STEP 2: take the tomato from the fridge | STEP 3: take the tomato to the sink | STEP 4: wash it in the sink then remove | STEP 5: take the tomato to the counter to the right of the sink | STEP 6: put the tomato on the counter | END