Task: Move a tomato on a plate to the counter by the coffee maker.

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           0.900          1.25           0              270            0
   1  Potato          1.276          0.925          2.034          0              90             0              78
   2  Potato          -0.346         0.794          6.014          0              0              0              91
   3  DishSponge      -0.179         0.759          6.282          0              225            0              91
   4  Spoon           1.405          0.772          4.680          0              0              0              45
   5  Spoon           1.332          0.891          2.239          0              180            0              78
   6  Spatula         -0.611         1.007          0.120          0              90             0              55
   7  Fork            -0.467         0.760          6.416          0              0              0              91
   8  Cup             1.671          0.988          3.511          0              0              0              55
   9  Plate           0.815          0.144          0.576          0              0              0              61
  10  Plate           1.238          0.141          3.439          0              0              0              66
  11  Plate           1.406          0.141          3.143          0              0              0              66
  12  Knife           -0.384         1.022          0.670          0              0              0              55
  13  Tomato          0.081          0.809          6.503          0              135            0              91
  14  SoapBottle      -0.422         0.760          6.653          0              135            0              91
  15  Bowl            2.009          1.514          6.001          0              270            0              77
  16  Bowl            -0.621         0.759          6.604          0              270            0              91
  17  PepperShaker    0.256          0.755          6.240          0              135            0              91
  18  SaltShaker      -0.535         0.987          0.212          0              0              0              55
  19  Apple           -0.312         0.834          6.416          0              270            0              91
  20  Bowl            0.213          0.759          6.763          0              225            0              91
  21  Bread           1.099          1.048          0.434          0              0              0              55
  22  Egg             2.137          1.565          5.626          0              270            0              77
  23  Knife           0.803          0.802          0.563          0              270            0              47
  24  Fork            1.318          0.985          0.441          0              0              357.665        55
  25  Apple           -0.346         0.834          6.787          0              0              0              91
  26  Kettle          1.562          0.988          3.848          0              0              0              49
  27  Plate           0.305          0.760          6.479          0              270            0              91
  28  SaltShaker      0.104          0.755          6.653          0              225            0              91
  29  Lettuce         1.449          0.932          2.050          0              0              0              78
  30  SoapBottle      -0.308         0.992          0.303          0              0              0              55
  31  Spatula         -0.096         0.775          6.169          0              0              0              91
  32  PaperTowelRoll  -0.535         1.096          0.486          0              0              0              55
  33  Pot             0.734          0.981          0.38           0              0              0              55
  34  Potato          2.009          1.550          5.501          0              270            0              77
  35  ButterKnife     1.236          0.771          3.223          0              0              0              48
  36  PepperShaker    0.771          0.987          0.670          0              0              0              55
  37  Pan             1.313          0.985          4.284          0              0              0              50
  38  Tomato          -0.049         0.809          6.588          0              225            0              91
  39  DishSponge      1.322          0.140          2.646          0              0              0              67
  40  Cup             -0.459         0.988          0.395          0              0              0              55
  41  Spoon           -0.384         0.993          0.486          0              90             0              55
  42  Mug             0.055          0.139          0.201          0              0              0              64
  43  Cabinet         1.307          2.455          4.360          0              0              0
  44  Cabinet         1.054          0.422          1.710          0              0              0
  45  Drawer          1.280          0.808          4.718          0              0              0
  46  Cabinet         1.307          2.455          3.607          0              0              0
  47  Drawer          0.736          0.802          0.521          0              0              0
  48  Drawer          1.276          0.802          3.291          0              0              0
  49  StoveBurner     1.562          0.982          3.848          0              0              0
  50  StoveBurner     1.317          0.982          4.294          0              0              0
  51  Drawer          -0.482         0.802          0.521          0              0              0
  52  Drawer          0.124          0.802          0.521          0              0              0
  53  StoveBurner     1.559          0.982          4.294          0              0              0
  54  StoveBurner     1.320          0.982          3.848          0              0              0
  55  CounterTop      1.391          1.028          0.897          0              0              0
  56  CounterTop      1.391          1.028          4.716          0              0              0
  57  Cabinet         1.054          0.422          4.548          0              0              0
  58  Cabinet         1.317          2.134          0.517          0              0              0
  59  Cabinet         1.317          2.134          4.889          0              0              0
  60  Cabinet         1.317          2.134          3.095          0              0              0
  61  Cabinet         0.443          0.422          0.743          0              0              0
  62  Cabinet         1.270          2.134          0.434          0              0              0
  63  Cabinet         -0.775         0.422          0.743          0              0              0
  64  Cabinet         -0.168         0.422          0.743          0              0              0
  65  Cabinet         1.317          2.134          1.534          0              0              0
  66  Cabinet         1.054          0.422          2.990          0              0              0
  67  Cabinet         1.054          0.422          2.944          0              0              0
  68  Cabinet         -0.263         2.134          0.434          0              0              0
  69  Cabinet         0.252          2.134          0.434          0              0              0
  70  Sink            1.391          1.006          2.326          0              0              0
  71  Microwave       0.108          0.981          0.262          0              0              0
  72  HousePlant      -0.165         0.826          6.444          0              0              0
  73  CoffeeMachine   1.551          0.982          0.953          0              270            0
  74  Toaster         1.473          0.981          4.715          0              270            0
  75  Window          -2.065         1.916          3.626          90             90             0
  76  Window          1.763          2.007          2.299          90             270            0
  77  Fridge          2.035          0.0            5.625          0              0              0
  78  SinkBasin       1.387          0.880          2.338          0              90             0
  79  GarbageCan      2.001          -0.044         6.503          0              0              0
  80  StoveKnob       1.140          0.934          3.987          45             270            0
  81  StoveKnob       1.140          0.934          4.309          45             270            0
  82  StoveKnob       1.140          0.934          4.140          45             270            0
  83  StoveKnob       1.140          0.934          3.824          45             270            0
  84  Vase            -0.226         0.834          6.993          0              0              0
  85  Vase            2.098          0.043          7.070          0              257.232        0
  86  Vase            -0.594         0.835          6.130          0              225            0
  87  LightSwitch     -2.0           1.549          6.045          0              90             0
  88  Safe            2.046          1.072          7.054          0              257.232        0
  89  Faucet          1.534          1.025          2.371          0              294.391        0
  90  Blinds          1.738          2.563          2.312          0              90             0
  91  DiningTable     -0.156         0.000          6.474          0              0              0
  92  Chair           0.291          0.002          6.142          0              310.162        0
  93  GarbageBag      -1.092         0.318          0.268          270            90             83.492
  94  NorthWall
  95  EastWall
  96  SouthWall
  97  WestWall

Plan:
STEP 1: Turn and cross the room, turn right again just before the kitchen table, and move around it so you're standing on the side closest to the fridge, but facing the table. | STEP 2: Pick up the tomato closest to you from the table. | STEP 3: Turn around and carry the tomato past the kitchen sink to the counter space on the opposite side of the room where the microwave is. | STEP 4: Open the cupboard beneath the pepper grinder on the counter, and place the tomato on the gray plate inside.  | STEP 5: Pick up the plate with the tomato on it from the cupboard.  | STEP 6: Turn to your left to face the coffee maker. | STEP 7: Place the plate with the tomato on top on the counter above the dishwasher and left of the coffee maker. | END