Task: place a plate with a tomato in it 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           -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: move right towards the table | STEP 2: pick up a tomato from the table | STEP 3: move left to the shelf | STEP 4: drop  the tomato in the plate in the shelf | STEP 5: pick up the plate from the shelf | STEP 6: turn left and head to the table | STEP 7: place the plate on the table | END