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           -0.25          0.900          -0.25          0              90             0
   1  Kettle          1.663          0.913          0.458          0              0              0              74
   2  Potato          -0.923         1.045          -1.704         0              0              0              81
   3  Potato          -1.027         1.045          -1.671         0              0              0              81
   4  DishSponge      0.035          0.911          0.458          0              0              0              58
   5  DishSponge      1.824          0.773          0.273          0              0              0              60
   6  ButterKnife     1.658          0.912          -1.406         0              0              0              59
   7  ButterKnife     1.724          0.912          0.209          0              0              0              74
   8  Pot             1.361          0.962          0.561          0              270            0              64
   9  Fork            -2.614         0.952          0.255          0              90             0              92
  10  Fork            -1.928         0.952          0.165          0              180            0              92
  11  Spoon           0.551          0.775          0.272          0              90             0              55
  12  Spatula         0.701          0.934          -1.649         0              270            0              57
  13  Plate           1.535          1.329          -1.809         0              180            0              75
  14  Plate           -2.31          0.512          -1.806         0              0              0              89
  15  Knife           -2.203         0.977          0.255          0              90             0              92
  16  SoapBottle      1.846          0.910          0.292          0              0              0              74
  17  SoapBottle      1.792          0.107          0.348          0              0              0              67
  18  Bowl            -2.135         1.051          -1.806         0              0              0              89
  19  Bowl            0.394          0.108          -1.509         0              180            0              56
  20  SaltShaker      -2.203         0.948          0.704          0              90             0              92
  21  SaltShaker      -2.614         0.948          0.345          0              90             0              92
  22  PepperShaker    1.535          0.908          -1.489         0              0              0              59
  23  PepperShaker    1.412          0.908          -1.737         0              0              0              59
  24  Bread           -1.928         1.035          0.614          0              90             0              92
  25  Lettuce         -2.222         1.582          -1.763         0              0              0              89
  26  Mug             0.618          0.945          0.469          0              180            0              83
  27  Mug             -2.614         0.947          0.704          0              90             0              92
  28  Apple           -0.451         0.979          -1.654         0              0              0              59
  29  Apple           0.341          0.850          -1.648         0              270            0              82
  30  Bread           1.781          0.995          -1.571         0              0              0              59
  31  Knife           -2.477         0.977          0.435          0              180            0              92
  32  Fork            0.167          0.912          0.209          0              180            0              58
  33  Bowl            -0.198         0.110          -1.471         0              0              0              68
  34  Kettle          -0.055         0.9            0.643          0              0              0              58
  35  Cup             0.908          0.917          -1.582         0              270            0              57
  36  Tomato          0.908          0.968          -1.782         0              270            0              57
  37  SoapBottle      -2.065         0.950          0.435          0              90             0              92
  38  Plate           0.035          0.913          0.292          0              0              0              58
  39  Pot             1.007          0.962          0.561          0              270            0              61
  40  Spatula         1.907          0.927          0.458          0              90             0              74
  41  PaperTowelRoll  -0.394         0.174          0.612          0              90             0              88
  42  Egg             -2.614         0.987          0.614          0              90             0              92
  43  Lettuce         -1.791         1.042          0.255          0              90             0              92
  44  SaltShaker      -2.203         0.948          0.435          0              90             0              92
  45  PepperShaker    1.867          0.104          0.236          0              0              0              67
  46  Apple           -0.329         0.137          0.526          0              90             0              88
  47  ButterKnife     -2.614         0.952          0.435          0              270            0              92
  48  Potato          -1.079         1.045          -1.770         0              0              0              81
  49  Pan             1.022          0.959          0.288          0              219.190        0              71
  50  DishSponge      -0.971         0.773          -1.472         0              0              0              72
  51  Spoon           0.341          0.777          -1.600         0              90             0              82
  52  Mug             -0.682         0.105          -1.582         0              0              0              73
  53  Cabinet         -0.193         1.688          -1.648         0              180            0
  54  StoveBurner     1.360          0.957          0.293          0              180            0
  55  Drawer          0.499          0.792          0.296          0              0              0
  56  Cabinet         0.095          0.400          -1.352         0              180            0
  57  Sink            0.711          0.817          -1.772         0              270            0
  58  CounterTop      0.280          0.947          0.458          0              0              0
  59  CounterTop      -0.680         0.947          -1.654         0              0              0
  60  Drawer          1.825          0.792          0.296          0              0              0
  61  StoveBurner     1.007          0.957          0.561          0              270            0
  62  Drawer          -0.150         0.792          -1.496         0              0              0
  63  Drawer          -0.586         0.792          -1.496         0              0              0
  64  StoveBurner     1.360          0.957          0.561          0              270            0
  65  Drawer          0.024          0.792          0.296          0              0              0
  66  Cabinet         1.079          0.400          -1.349         0              180            0
  67  Cabinet         1.669          0.402          0.151          0              0              0
  68  Cabinet         0.055          0.402          -1.351         0              0              0
  69  Cabinet         -0.180         0.402          0.151          0              0              0
  70  Cabinet         0.729          0.402          0.151          0              0              0
  71  StoveBurner     1.007          0.957          0.293          0              180            0
  72  Drawer          -1.100         0.792          -1.496         0              0              0
  73  Cabinet         -0.396         0.402          -1.351         0              0              0
  74  CounterTop      1.776          0.947          0.458          0              0              0
  75  Cabinet         1.974          1.688          -1.648         0              180            0
  76  Cabinet         -0.820         0.400          -1.349         0              180            0
  77  Toaster         0.305          0.900          0.552          0              180            0
  78  LightSwitch     -2.756         1.307          -0.987         0              90             0
  79  Window          0.582          1.613          -1.967         90             0              0
  80  Window          1.969          1.5            -0.615         90             270            0
  81  Microwave       -1.037         0.900          -1.723         0              0              0
  82  SinkBasin       0.377          0.765          -1.655         0              270            0
  83  CoffeeMachine   0.618          0.900          0.600          0              180            0
  84  StoveKnob       1.246          0.913          0.118          45             180            0
  85  StoveKnob       1.373          0.913          0.118          45             180            0
  86  StoveKnob       0.995          0.913          0.118          45             180            0
  87  StoveKnob       1.126          0.913          0.118          45             180            0
  88  GarbageCan      -0.368         -0.029         0.539          0              90             0
  89  Fridge          -2.134         0.0            -1.690         0              0              0
  90  Faucet          0.549          1.046          -1.833         0              232.527        0
  91  Stool           -1.475         0.000          0.414          1.233          280.375        0
  92  DiningTable     -2.255         -0.004         0.432          0              0              0
  93  NorthWall
  94  EastWall
  95  SouthWall
  96  WestWall

Plan:
STEP 1: move forward to the stove and turn right and move to the counter in front of the window | STEP 2: pick up the tomato that is on the mat behind the cup | STEP 3: turn to the right and move forward to the refrigerator and turn left to face the fridge | STEP 4: open the fridge door, put the tomato inside on the middle shelf, close the door for 3 seconds, open the door, remove the tomato from the fridge and close the door | STEP 5: turn left and move forward, turning to the left at the sink and move to the counter across the kitchen with the blue plate | STEP 6: put the tomato on to the counter to the right of the blue plate | END