Task: Put two tomato's on the kitchen counter

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.0           0.901          -1.5           0              180            0
   1  Potato          -3.234         0.685          -2.064         0              90             0              85
   2  Potato          -1.707         0.834          -3.790         0              0              0              86
   3  DishSponge      -0.102         1.867          -2.052         0              0              0              62
   4  ButterKnife     -0.419         0.916          -0.542         0              0              0              71
   5  ButterKnife     -0.257         0.916          -1.493         0              0              0              71
   6  Spatula         -0.014         0.930          -1.616         0              90             0              71
   7  Spoon           -3.292         0.714          -0.620         0              270            0              88
   8  Egg             -3.150         0.749          -0.433         0              270            0              88
   9  Cup             -3.053         0.714          -0.922         0              0              0              88
  10  Cup             -2.007         0.082          -3.596         0              0              0              65
  11  Plate           -0.452         0.078          -1.570         0              0              0              49
  12  Plate           -0.373         0.080          -3.348         0              0              0              45
  13  Knife           -2.439         0.749          -0.496         0              0              0              88
  14  Tomato          -3.027         1.448          -1.941         0              90             0              85
  15  Tomato          -0.284         0.129          -0.030         0              270            0              83
  16  SoapBottle      -2.581         0.713          -0.558         0              270            0              88
  17  SaltShaker      -0.257         0.912          -1.309         0              0              0              71
  18  SaltShaker      -0.692         0.078          -3.675         0              0              0              46
  19  Lettuce         -2.740         0.804          -0.069         0              0              0              88
  20  Mug             -1.523         0.077          -3.751         0              0              0              60
  21  Apple           -3.079         1.056          -2.064         0              90             0              85
  22  Apple           -0.189         1.055          -0.950         0              270            0              81
  23  Pot             -0.376         0.975          -2.031         0              180            0              73
  24  Egg             -1.914         0.826          -3.832         0              0              0              86
  25  Cup             -3.234         1.399          -2.125         0              90             0              85
  26  Bread           -2.765         0.757          -0.596         0              135            0              88
  27  Fork            -0.095         0.916          -1.432         0              90             0              71
  28  Pan             -0.394         0.973          -2.414         0              0              0              69
  29  Potato          -2.877         0.757          -0.684         0              225            0              88
  30  Lettuce         -1.324         0.988          -3.759         1.621          253.789        357.313        44
  31  Tomato          -2.664         0.766          -0.294         0              225            0              88
  32  Apple           -0.158         1.055          -0.802         0              270            0              81
  33  SoapBottle      -0.128         1.867          -2.644         0              0              0              63
  34  Spatula         -0.176         0.930          -1.555         0              0              0              71
  35  SaltShaker      -2.676         0.713          -0.508         0              135            0              88
  36  Knife           -3.056         0.946          -3.126         0              90             0              44
  37  PepperShaker    -0.412         0.742          -1.176         0              0              0              67
  38  ButterKnife     -3.123         0.717          -0.841         0              225            0              88
  39  Plate           -0.450         0.079          -3.081         0              0              0              55
  40  DishSponge      -2.797         0.713          -0.829         0              135            0              88
  41  Spoon           -3.292         0.714          -0.495         0              270            0              88
  42  Mug             -2.930         0.762          -0.358         0              135            0              84
  43  Bowl            -3.309         0.911          -3.026         0              0              0              44
  44  CounterTop      -1.789         0.949          -3.803         0              0              0
  45  Cabinet         -0.577         0.388          -3.476         0              0              0
  46  Cabinet         -0.605         0.388          -3.511         0              0              0
  47  Cabinet         -2.976         0.388          -3.201         0              0              0
  48  Cabinet         -0.577         0.388          -0.447         0              0              0
  49  Cabinet         -0.577         0.388          -1.725         0              0              0
  50  Cabinet         -0.226         1.803          -1.743         0              0              0
  51  Cabinet         -0.228         1.799          -0.447         0              0              0
  52  Cabinet         -6.010         1.139          -6.019         0              0              0
  53  Cabinet         -3.022         2.098          -2.681         0              0              0
  54  Cabinet         -3.022         2.098          -1.743         0              0              0
  55  Cabinet         -0.577         0.388          -2.736         0              0              0
  56  Cabinet         -3.232         1.803          -3.343         0              0              0
  57  Cabinet         -2.811         1.810          -3.764         0              0              0
  58  Cabinet         -1.233         1.810          -3.764         0              0              0
  59  Cabinet         -1.364         0.388          -3.511         0              0              0
  60  Cabinet         -1.380         0.388          -3.511         0              0              0
  61  Cabinet         -0.226         1.803          -2.725         0              0              0
  62  Cabinet         -0.236         2.098          -1.767         0              0              0
  63  Cabinet         -0.236         2.098          -2.705         0              0              0
  64  Cabinet         -0.193         1.210          -4.239         0              0              0
  65  Cabinet         -2.148         0.388          -3.511         0              0              0
  66  Drawer          -3.104         0.797          -2.968         0              0              0
  67  Drawer          -0.449         0.797          -1.410         0              0              0
  68  Sink            -1.786         0.902          -3.748         0              0              0
  69  StoveBurner     -0.376         0.936          -2.451         0              0              0
  70  Drawer          -0.449         0.797          -0.762         0              0              0
  71  CounterTop      -0.268         0.951          -1.089         0              0              0
  72  Drawer          -0.449         0.797          -3.348         0              0              0
  73  StoveBurner     -0.376         0.936          -2.031         0              180            0
  74  Drawer          -0.449         0.797          -2.968         0              0              0
  75  StoveBurner     -0.165         0.936          -2.030         0              180            0
  76  StoveBurner     -0.165         0.936          -2.450         0              0              0
  77  StoveKnob       -0.568         0.903          -2.313         45             270            0
  78  StoveKnob       -0.568         0.903          -2.470         45             270            0
  79  StoveKnob       -0.568         0.903          -2.166         45             270            0
  80  StoveKnob       -0.568         0.903          -2.003         45             270            0
  81  Microwave       -0.143         0.903          -0.908         0              270            0
  82  LightSwitch     -1.108         1.457          0.338          0              180            0
  83  GarbageCan      -0.283         -0.032         -0.035         0              270            0
  84  CoffeeMachine   -3.104         0.837          -0.185         0              135            0
  85  Fridge          -3.188         0.0            -2.184         0              0              0
  86  SinkBasin       -1.786         0.779          -3.747         0              0              0
  87  Toaster         -0.230         0.903          -3.406         0              270            0
  88  DiningTable     -2.800         0.003          -0.505         0              0              0
  89  Chair           -3.044         0.003          -1.223         0              32.194         0
  90  Faucet          -1.791         1.136          -3.913         0              270            0
  91  NorthWall
  92  EastWall
  93  SouthWall
  94  WestWall

Plan:
STEP 1: Turn around until you hit the wall, then turn to your right | STEP 2: Pick up tomato from the trash can | STEP 3: Move to the kitchen counter on your right | STEP 4: Put the tomato on the kitchen counter | STEP 5: Turn back to the wall, then head left to the kitchen table | STEP 6: Pick up a tomato from the kitchen table | STEP 7: Turn around and return the kitchen counter | STEP 8: Put the other tomato on the kitchen counter | END