Task: Put the chilled tomato on the table

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.5           0.901          1.5            0              90             0
   1  DishSponge      -1.904         0.927          0.433          0              0              0              47
   2  DishSponge      -0.858         1.773          0.297          0              0              0              45
   3  ButterKnife     -2.628         0.935          3.766          0              0              0              54
   4  Spoon           -0.143         0.901          2.329          0              90             0              70
   5  Spoon           -2.628         0.936          3.488          0              90             0              54
   6  Pot             -0.314         0.900          2.731          0              180            0              70
   7  Egg             -2.785         0.332          4.575          0              90             0              64
   8  Cup             -0.191         1.023          0.235          0              0              0              66
   9  Plate           -0.304         1.777          0.251          0              0              0              46
  10  SoapBottle      -0.572         0.900          2.329          0              0              0              70
  11  SoapBottle      -1.904         0.927          0.602          0              0              0              47
  12  Bowl            -1.746         1.770          0.205          0              0              0              42
  13  Bowl            -2.583         0.897          2.309          0              0              0              68
  14  PepperShaker    -1.878         0.658          0.573          0              0              0              50
  15  Egg             -0.835         0.831          0.392          0              0              0              65
  16  Plate           -0.314         0.904          2.530          0              0              0              70
  17  Fork            -2.583         0.901          2.045          0              90             0              68
  18  Bread           -2.686         0.957          2.573          0              0              0              68
  19  Apple           -0.403         1.079          0.140          0              0              0              66
  20  Lettuce         -0.657         0.980          3.535          0              0              0              70
  21  Spatula         -2.686         0.915          1.913          0              0              0              68
  22  Knife           -2.215         0.688          0.355          0              90             0              55
  23  Potato          -0.921         0.822          0.337          0              0              0              65
  24  Tomato          -0.143         0.964          3.133          0              0              0              70
  25  Cup             -2.888         0.632          4.278          0              90             0              64
  26  SaltShaker      -0.218         0.658          0.573          0              0              0              36
  27  PepperShaker    -0.380         0.658          0.300          0              0              0              36
  28  ButterKnife     -0.572         0.900          2.932          0              0              0              70
  29  SoapBottle      -2.815         0.053          0.284          0              26.101         0              61
  30  Pan             -0.250         0.926          4.651          0              0              0              49
  31  DishSponge      -2.191         1.773          0.251          0              0              0              43
  32  Pot             -0.535         0.928          4.274          0              0              0              51
  33  Spoon           -2.480         0.901          1.913          0              0              0              68
  34  Mug             -2.764         0.627          4.575          0              90             0              64
  35  Bowl            -2.805         1.182          4.278          0              90             0              64
  36  Drawer          -0.325         0.696          0.413          0              0              0
  37  Cabinet         -0.595         0.490          0.648          0              0              0
  38  Cabinet         -0.555         0.490          0.646          0              0              0
  39  Cabinet         -1.591         0.490          0.646          0              0              0
  40  Cabinet         -1.554         0.490          0.646          0              0              0
  41  Cabinet         -2.550         0.490          0.646          0              0              0
  42  Cabinet         -1.514         2.046          0.392          0              0              0
  43  Cabinet         -2.474         2.046          0.392          0              0              0
  44  Cabinet         -1.478         2.046          0.392          0              0              0
  45  Cabinet         -0.518         2.046          0.392          0              0              0
  46  Cabinet         -0.479         2.046          0.392          0              0              0
  47  CounterTop      -1.366         0.952          0.349          0              0              0
  48  Sink            -1.108         0.926          0.340          0              0              0
  49  StoveBurner     -0.254         0.922          4.672          0              0              0
  50  Drawer          -1.824         0.696          0.413          0              0              0
  51  StoveBurner     -0.535         0.922          4.274          0              0              0
  52  StoveBurner     -0.254         0.922          4.274          0              0              0
  53  StoveBurner     -0.536         0.922          4.672          0              0              0
  54  CounterTop      -2.780         0.971          3.487          0              0              0
  55  Drawer          -2.323         0.696          0.413          0              0              0
  56  StoveKnob       -0.064         1.090          4.632          0              0              73.865
  57  StoveKnob       -0.064         1.090          4.782          0              0              73.865
  58  StoveKnob       -0.064         1.090          4.382          0              0              73.865
  59  StoveKnob       -0.064         1.090          4.222          0              0              73.865
  60  Toaster         -0.286         0.861          3.520          0              270            0
  61  GarbageCan      -2.816         -0.014         0.370          358.702        26.614         2.400
  62  LightSwitch     -0.064         1.447          1.996          0              270            0
  63  Window          -3.075         1.593          1.361          90             90             0
  64  Fridge          -2.802         0.0            4.427          0              0              0
  65  SinkBasin       -1.106         0.785          0.337          0              0              0
  66  Microwave       -0.358         0.917          0.224          0              0              0
  67  CoffeeMachine   -2.938         0.925          3.605          0              90             0
  68  DiningTable     -2.733         -0.003         2.607          0              270            0
  69  Faucet          -1.077         0.920          0.028          270            270            0
  70  DiningTable     -0.488         -0.003         3.182          0              270            0
  71  NorthWall
  72  EastWall
  73  SouthWall
  74  WestWall

Plan:
STEP 1: Turn to your right then cross the room head to the table beside the stove | STEP 2: Pick up the tomato on the table beside toaster | STEP 3: Turn to your left then walk towards the fridge | STEP 4: Open the fridge put in and out the tomato then close the fridge | STEP 5: Turn to your left then walk straight  towards the table on your right | STEP 6: Put the tomato on the edge of the table | END