Task: Put two tomatoes on 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           -1.25          0.901          -1.25          0              270            0
   1  Potato          -3.234         0.685          -1.879         0              90             0              83
   2  Potato          -0.176         0.959          -1.616         0              180            0              69
   3  DishSponge      -0.441         0.746          -1.486         0              0              0              65
   4  ButterKnife     -0.095         0.916          -1.432         0              0              0              69
   5  ButterKnife     -2.809         0.717          -0.640         0              135            0              86
   6  Egg             -1.569         0.826          -3.832         0              0              0              84
   7  Egg             -0.065         1.048          -0.851         0              270            0              79
   8  Cup             -0.419         0.916          -1.432         0              0              0              69
   9  Cup             -2.740         0.717          -0.211         0              0              0              86
  10  Plate           -0.447         0.911          -3.952         0              0              0              42
  11  Knife           -3.140         0.946          -3.026         0              0              0              42
  12  Tomato          -3.150         0.763          -0.495         0              270            0              86
  13  Tomato          -1.914         0.840          -3.832         0              0              0              84
  14  SoapBottle      -3.292         0.716          -0.370         0              270            0              86
  15  Bowl            -0.792         1.290          -3.888         0              0              0              56
  16  SaltShaker      -0.443         0.742          -3.406         0              0              0              70
  17  SaltShaker      -0.652         0.078          -3.792         0              0              0              44
  18  PepperShaker    -2.678         0.710          -0.353         0              0              0              86
  19  Mug             -3.027         0.636          -2.002         0              90             0              83
  20  Mug             -0.692         0.077          -3.635         0              0              0              44
  21  Pot             -0.376         0.975          -2.031         0              180            0              71
  22  Egg             -3.234         1.049          -2.002         0              90             0              83
  23  Cup             -1.152         1.293          -3.966         0              0              0              56
  24  Bread           -0.327         0.948          -3.681         0              298.222        0              42
  25  Fork            -1.638         0.791          -3.790         0              90             0              84
  26  Pan             -2.449         0.912          -3.729         0              0              0              42
  27  Potato          -0.095         0.959          -1.493         0              180            0              69
  28  Lettuce         -2.808         1.001          -3.655         0              0              0              42
  29  Tomato          -0.284         0.129          -0.115         0              270            0              81
  30  Apple           -2.676         0.759          -0.483         0              225            0              86
  31  SoapBottle      -2.439         0.716          -0.371         0              270            0              86
  32  Spatula         -0.257         0.930          -0.507         0              0              0              69
  33  SaltShaker      -2.928         0.710          -0.069         0              0              0              86
  34  Knife           -0.338         0.948          -1.493         0              0              0              69
  35  PepperShaker    -0.500         0.912          -1.555         0              0              0              69
  36  ButterKnife     -0.160         0.913          -3.112         0              0              0              42
  37  Plate           -2.865         0.715          -0.922         0              0              0              86
  38  DishSponge      -2.753         0.713          -0.785         0              135            0              86
  39  Spoon           -2.576         0.714          -0.608         0              135            0              86
  40  Mug             -2.930         0.762          -0.358         0              135            0              82
  41  Bowl            -0.374         0.078          -0.838         0              0              0              46
  42  CounterTop      -1.789         0.949          -3.803         0              0              0
  43  Cabinet         -0.577         0.388          -3.476         0              0              0
  44  Cabinet         -0.605         0.388          -3.511         0              0              0
  45  Cabinet         -2.976         0.388          -3.201         0              0              0
  46  Cabinet         -0.577         0.388          -0.447         0              0              0
  47  Cabinet         -0.577         0.388          -1.725         0              0              0
  48  Cabinet         -0.226         1.803          -1.743         0              0              0
  49  Cabinet         -0.228         1.799          -0.447         0              0              0
  50  Cabinet         -6.010         1.139          -6.019         0              0              0
  51  Cabinet         -3.022         2.098          -2.681         0              0              0
  52  Cabinet         -3.022         2.098          -1.743         0              0              0
  53  Cabinet         -0.577         0.388          -2.736         0              0              0
  54  Cabinet         -3.232         1.803          -3.343         0              0              0
  55  Cabinet         -2.811         1.810          -3.764         0              0              0
  56  Cabinet         -1.233         1.810          -3.764         0              0              0
  57  Cabinet         -1.364         0.388          -3.511         0              0              0
  58  Cabinet         -1.380         0.388          -3.511         0              0              0
  59  Cabinet         -0.226         1.803          -2.725         0              0              0
  60  Cabinet         -0.236         2.098          -1.767         0              0              0
  61  Cabinet         -0.236         2.098          -2.705         0              0              0
  62  Cabinet         -0.193         1.210          -4.239         0              0              0
  63  Cabinet         -2.148         0.388          -3.511         0              0              0
  64  Drawer          -3.104         0.797          -2.968         0              0              0
  65  Drawer          -0.449         0.797          -1.410         0              0              0
  66  Sink            -1.786         0.902          -3.748         0              0              0
  67  StoveBurner     -0.376         0.936          -2.451         0              0              0
  68  Drawer          -0.449         0.797          -0.762         0              0              0
  69  CounterTop      -0.268         0.951          -1.089         0              0              0
  70  Drawer          -0.449         0.797          -3.348         0              0              0
  71  StoveBurner     -0.376         0.936          -2.031         0              180            0
  72  Drawer          -0.449         0.797          -2.968         0              0              0
  73  StoveBurner     -0.165         0.936          -2.030         0              180            0
  74  StoveBurner     -0.165         0.936          -2.450         0              0              0
  75  StoveKnob       -0.568         0.903          -2.313         45             270            0
  76  StoveKnob       -0.568         0.903          -2.470         45             270            0
  77  StoveKnob       -0.568         0.903          -2.166         45             270            0
  78  StoveKnob       -0.568         0.903          -2.003         45             270            0
  79  Microwave       -0.143         0.903          -0.908         0              270            0
  80  LightSwitch     -1.108         1.457          0.338          0              180            0
  81  GarbageCan      -0.283         -0.032         -0.035         0              270            0
  82  CoffeeMachine   -3.104         0.837          -0.185         0              135            0
  83  Fridge          -3.188         0.0            -2.184         0              0              0
  84  SinkBasin       -1.786         0.779          -3.747         0              0              0
  85  Toaster         -0.230         0.903          -3.406         0              270            0
  86  DiningTable     -2.800         0.003          -0.505         0              0              0
  87  Chair           -3.044         0.003          -1.223         0              32.194         0
  88  Faucet          -1.791         1.136          -3.913         0              270            0
  89  NorthWall
  90  EastWall
  91  SouthWall
  92  WestWall

Plan:
STEP 1: Turn left, go a bit forward, turn right and face the table | STEP 2: Take the tomato from the table | STEP 3: Turn right, go forward, turn right at the counter, go forward, turn right at the counter | STEP 4: Put the tomato on the counter | STEP 5: Go a bit forward, turn left at the sink | STEP 6: Pick up the tomato in the sink | STEP 7: Turn left, go forward, turn around when you reach the counter | STEP 8: Put the tomato on the counter | END