Task: find a tomato to put on a table

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -2.0           0.901          3.25           0              180            0
   1  DishSponge      -2.789         0.900          2.309          0              0              0              72
   2  DishSponge      -2.269         0.661          0.300          0              0              0              59
   3  ButterKnife     -2.480         0.900          2.177          0              0              0              72
   4  Spatula         -0.486         0.915          2.530          0              180            0              74
   5  Spatula         -2.628         0.950          3.488          0              90             0              58
   6  Fork            -0.380         0.662          0.464          0              0              0              40
   7  Pot             -0.572         0.900          2.731          0              0              0              74
   8  Egg             -1.180         0.829          0.281          0              0              0              69
   9  Cup             -2.686         0.900          1.913          0              0              0              72
  10  Plate           -0.802         1.777          0.251          0              0              0              49
  11  Tomato          -2.722         0.696          4.204          0              90             0              68
  12  PepperShaker    -2.037         0.924          0.602          0              0              0              51
  13  Lettuce         -2.832         0.133          0.334          0              26.101         0              65
  14  Lettuce         -2.738         0.378          4.352          0              90             0              68
  15  Mug             -2.778         1.001          3.714          0              90             0              71
  16  Mug             -0.403         1.013          0.171          0              0              0              70
  17  Apple           -0.191         1.079          0.171          0              0              0              70
  18  Apple           -2.888         0.688          4.278          0              90             0              68
  19  Egg             -2.549         0.968          3.580          0              0              0              58
  20  Plate           -0.572         0.904          2.329          0              0              0              74
  21  Fork            -1.266         0.796          0.281          0              90             0              69
  22  Bread           -2.583         0.957          2.441          0              0              0              72
  23  Apple           -2.864         0.991          3.209          0              0              0              58
  24  Lettuce         -0.228         0.980          2.530          0              0              0              74
  25  Spatula         -0.400         0.915          2.932          0              90             0              74
  26  Knife           -2.706         0.961          3.395          0              180            0              58
  27  Potato          -2.995         0.926          2.706          0              0              0              72
  28  Tomato          -2.888         1.250          4.575          0              90             0              68
  29  Cup             -1.094         0.795          0.392          0              0              0              69
  30  SaltShaker      -2.864         0.931          3.302          0              0              0              58
  31  PepperShaker    -0.486         0.896          3.133          0              0              0              74
  32  ButterKnife     -0.400         0.900          2.530          0              0              0              74
  33  SoapBottle      -2.628         0.935          3.302          0              0              0              58
  34  Pan             -0.250         0.926          4.651          0              0              0              53
  35  DishSponge      -0.326         0.661          0.355          0              0              0              40
  36  Pot             -0.535         0.928          4.274          0              0              0              55
  37  Spoon           -2.323         0.663          0.409          0              0              0              59
  38  Mug             -2.831         0.294          4.575          0              90             0              68
  39  Bowl            -0.359         1.770          0.297          0              90             0              50
  40  Drawer          -0.325         0.696          0.413          0              0              0
  41  Cabinet         -0.595         0.490          0.648          0              0              0
  42  Cabinet         -0.555         0.490          0.646          0              0              0
  43  Cabinet         -1.591         0.490          0.646          0              0              0
  44  Cabinet         -1.554         0.490          0.646          0              0              0
  45  Cabinet         -2.550         0.490          0.646          0              0              0
  46  Cabinet         -1.514         2.046          0.392          0              0              0
  47  Cabinet         -2.474         2.046          0.392          0              0              0
  48  Cabinet         -1.478         2.046          0.392          0              0              0
  49  Cabinet         -0.518         2.046          0.392          0              0              0
  50  Cabinet         -0.479         2.046          0.392          0              0              0
  51  CounterTop      -1.366         0.952          0.349          0              0              0
  52  Sink            -1.108         0.926          0.340          0              0              0
  53  StoveBurner     -0.254         0.922          4.672          0              0              0
  54  Drawer          -1.824         0.696          0.413          0              0              0
  55  StoveBurner     -0.535         0.922          4.274          0              0              0
  56  StoveBurner     -0.254         0.922          4.274          0              0              0
  57  StoveBurner     -0.536         0.922          4.672          0              0              0
  58  CounterTop      -2.780         0.971          3.487          0              0              0
  59  Drawer          -2.323         0.696          0.413          0              0              0
  60  StoveKnob       -0.064         1.090          4.632          0              0              73.865
  61  StoveKnob       -0.064         1.090          4.782          0              0              73.865
  62  StoveKnob       -0.064         1.090          4.382          0              0              73.865
  63  StoveKnob       -0.064         1.090          4.222          0              0              73.865
  64  Toaster         -0.286         0.861          3.520          0              270            0
  65  GarbageCan      -2.816         -0.014         0.370          358.702        26.614         2.400
  66  LightSwitch     -0.064         1.447          1.996          0              270            0
  67  Window          -3.075         1.593          1.361          90             90             0
  68  Fridge          -2.802         0.0            4.427          0              0              0
  69  SinkBasin       -1.106         0.785          0.337          0              0              0
  70  Microwave       -0.358         0.917          0.224          0              0              0
  71  CoffeeMachine   -2.938         0.925          3.605          0              90             0
  72  DiningTable     -2.733         -0.003         2.607          0              270            0
  73  Faucet          -1.077         0.920          0.028          270            270            0
  74  DiningTable     -0.488         -0.003         3.182          0              270            0
  75  NorthWall
  76  EastWall
  77  SouthWall
  78  WestWall

Plan:
STEP 1: turn to the right, walk and face the fridge | STEP 2: open the fridge door, take out a tomato from the shelf, close the door | STEP 3: turn to the left, walk to the white table, turn to face the table | STEP 4: put the tomato on the white table in front of the loaf of bread | END