Task: put a chilled tomato on to 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          -0.5           0              90             0
   1  Potato          1.781          0.942          -1.654         0              0              0              50
   2  ButterKnife     -1.791         0.952          0.614          0              90             0              83
   3  ButterKnife     1.724          0.912          0.458          0              0              0              65
   4  Pot             1.007          0.962          0.561          0              270            0              52
   5  Pot             1.361          0.962          0.561          0              270            0              55
   6  Fork            0.753          0.920          -1.715         0              0              0              48
   7  Fork            -1.928         0.952          0.255          0              90             0              83
   8  Egg             -2.047         0.815          -1.763         0              0              0              80
   9  Egg             -0.427         0.105          0.655          0              90             0              79
  10  Cup             1.846          0.910          0.209          0              0              0              65
  11  Plate           1.846          0.913          0.623          0              0              0              65
  12  Knife           -2.203         0.977          0.345          0              90             0              83
  13  Knife           -1.791         0.977          0.345          0              270            0              83
  14  SoapBottle      0.167          0.910          0.292          0              0              0              49
  15  SoapBottle      -0.082         0.910          -1.903         0              0              0              50
  16  Bowl            -0.975         1.014          -1.737         0              0              0              72
  17  Bowl            -2.047         1.051          -1.763         0              0              0              80
  18  SaltShaker      -2.614         0.948          0.345          0              90             0              83
  19  SaltShaker      -1.791         0.948          0.704          0              90             0              83
  20  PepperShaker    -0.268         1.325          -1.809         0              180            0              44
  21  Bread           -0.096         0.995          0.623          0              0              0              49
  22  Knife           -2.477         0.977          0.255          0              90             0              83
  23  Fork            -2.065         0.952          0.614          0              90             0              83
  24  Bowl            1.846          0.911          0.375          0              0              0              65
  25  Kettle          -2.340         0.953          0.255          0              90             0              83
  26  Cup             0.445          0.108          0.233          0              0              0              61
  27  Tomato          -0.359         0.961          -1.903         0              0              0              50
  28  SoapBottle      -0.296         0.068          0.526          0              90             0              79
  29  Plate           -0.586         0.111          -1.508         0              0              0              64
  30  Pot             -0.175         0.912          -1.571         0              0              0              50
  31  Spatula         -2.477         0.967          0.524          0              180            0              83
  32  PaperTowelRoll  0.300          1.016          0.209          0              0              0              49
  33  Egg             -2.614         0.987          0.255          0              90             0              83
  34  Lettuce         0.851          1.001          -1.537         0              231.490        0              48
  35  SaltShaker      -2.065         0.948          0.704          0              90             0              83
  36  PepperShaker    -0.096         0.107          -1.582         0              0              0              59
  37  Apple           -1.959         0.578          -1.763         0              0              0              80
  38  ButterKnife     -2.614         0.952          0.524          0              270            0              83
  39  Potato          -2.047         0.541          -1.763         0              0              0              80
  40  Pan             1.022          0.959          0.288          0              219.190        0              62
  41  DishSponge      -2.065         0.951          0.255          0              90             0              83
  42  Spoon           1.658          0.913          -1.571         0              0              0              50
  43  Mug             -2.135         1.487          -1.763         0              0              0              80
  44  Cabinet         -0.193         1.688          -1.648         0              180            0
  45  StoveBurner     1.360          0.957          0.293          0              180            0
  46  Drawer          0.499          0.792          0.296          0              0              0
  47  Cabinet         0.095          0.400          -1.352         0              180            0
  48  Sink            0.711          0.817          -1.772         0              270            0
  49  CounterTop      0.280          0.947          0.458          0              0              0
  50  CounterTop      -0.680         0.947          -1.654         0              0              0
  51  Drawer          1.825          0.792          0.296          0              0              0
  52  StoveBurner     1.007          0.957          0.561          0              270            0
  53  Drawer          -0.150         0.792          -1.496         0              0              0
  54  Drawer          -0.586         0.792          -1.496         0              0              0
  55  StoveBurner     1.360          0.957          0.561          0              270            0
  56  Drawer          0.024          0.792          0.296          0              0              0
  57  Cabinet         1.079          0.400          -1.349         0              180            0
  58  Cabinet         1.669          0.402          0.151          0              0              0
  59  Cabinet         0.055          0.402          -1.351         0              0              0
  60  Cabinet         -0.180         0.402          0.151          0              0              0
  61  Cabinet         0.729          0.402          0.151          0              0              0
  62  StoveBurner     1.007          0.957          0.293          0              180            0
  63  Drawer          -1.100         0.792          -1.496         0              0              0
  64  Cabinet         -0.396         0.402          -1.351         0              0              0
  65  CounterTop      1.776          0.947          0.458          0              0              0
  66  Cabinet         1.974          1.688          -1.648         0              180            0
  67  Cabinet         -0.820         0.400          -1.349         0              180            0
  68  Toaster         0.305          0.900          0.552          0              180            0
  69  LightSwitch     -2.756         1.307          -0.987         0              90             0
  70  Window          0.582          1.613          -1.967         90             0              0
  71  Window          1.969          1.5            -0.615         90             270            0
  72  Microwave       -1.037         0.900          -1.723         0              0              0
  73  SinkBasin       0.377          0.765          -1.655         0              270            0
  74  CoffeeMachine   0.618          0.900          0.600          0              180            0
  75  StoveKnob       1.246          0.913          0.118          45             180            0
  76  StoveKnob       1.373          0.913          0.118          45             180            0
  77  StoveKnob       0.995          0.913          0.118          45             180            0
  78  StoveKnob       1.126          0.913          0.118          45             180            0
  79  GarbageCan      -0.368         -0.029         0.539          0              90             0
  80  Fridge          -2.134         0.0            -1.690         0              0              0
  81  Faucet          0.549          1.046          -1.833         0              232.527        0
  82  Stool           -1.475         0.000          0.414          1.233          280.375        0
  83  DiningTable     -2.255         -0.004         0.432          0              0              0
  84  NorthWall
  85  EastWall
  86  SouthWall
  87  WestWall

Plan:
STEP 1: move forward and turn to face the counter to the right of the sink | STEP 2: pick up the tomato from the counter that is behind the large silver bowl | STEP 3: turn to the right and move forward to the fridge on the left and turn to face the fridge | STEP 4: open the refrigerator door, put the tomato in to the fridge on the middle shelf and shut the door for five seconds, open the door, remove the tomato and close the door | STEP 5: turn to the left and move forward, turn left at the sink and move to the counter where the paper towel roll is | STEP 6: put the tomato on to the counter to the right of the paper towel roll | END