Task: Place a cold tomato on the counter top

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          2.5            0              180            0
   1  Pan             -1.109         0.930          1.470          0              0              0              48
   2  Potato          1.390          0.102          2.879          0              0              0              84
   3  Potato          -1.127         0.970          2.159          0              0              0              46
   4  DishSponge      -1.126         0.937          0.843          0              0              0              71
   5  Fork            1.746          0.938          0.806          0              90             0              51
   6  Spoon           -1.127         0.939          2.310          0              90             0              46
   7  Spoon           -0.960         0.939          1.076          0              0              0              71
   8  Spatula         1.669          0.952          1.074          0              0              0              51
   9  Spatula         -0.876         0.952          0.998          0              180            0              71
  10  Egg             -0.924         1.534          0.348          0              90             0              78
  11  Plate           -1.078         1.506          0.887          0              0              0              57
  12  Plate           1.391          0.086          0.848          0              0              0              72
  13  Knife           -0.861         0.768          0.779          0              90             0              69
  14  Knife           1.592          0.959          0.873          0              0              0              51
  15  Tomato          -1.211         0.999          2.310          0              0              0              46
  16  SoapBottle      1.523          0.069          2.879          0              0              0              84
  17  Bowl            -1.106         1.947          1.411          0              0              0              62
  18  Bowl            1.382          0.097          0.373          0              0              0              56
  19  SaltShaker      -1.209         0.934          0.921          0              0              0              71
  20  SaltShaker      -1.115         1.824          0.514          0              0              0              60
  21  PepperShaker    -0.827         0.743          2.449          0              180            0              47
  22  PepperShaker    -0.961         1.497          2.613          0              180            0              68
  23  Lettuce         -1.126         1.028          1.076          0              0              0              71
  24  Mug             -1.075         1.944          1.877          0              0              0              62
  25  Lettuce         -0.937         0.656          0.195          0              90             0              78
  26  SoapBottle      1.550          0.944          1.631          0              180            0              73
  27  Bread           -0.923         0.990          2.265          0              302.470        0              46
  28  Fork            1.362          0.938          2.405          0              0              0              51
  29  Tomato          -1.126         0.999          0.687          0              0              0              71
  30  Bowl            -0.971         1.315          0.118          0              90             0              78
  31  Pot             -1.109         0.930          1.865          0              0              0              70
  32  Spatula         -0.960         0.952          0.921          0              0              0              71
  33  Knife           -0.896         0.768          2.517          0              270            0              47
  34  SaltShaker      1.624          1.944          1.363          0              0              0              64
  35  Apple           1.362          0.993          1.673          0              180            0              73
  36  PepperShaker    -0.827         0.743          1.118          0              180            0              69
  37  ButterKnife     -1.043         0.937          0.687          0              0              0              71
  38  Potato          -0.876         0.970          0.765          0              0              0              71
  39  Plate           -0.804         0.086          2.313          0              0              0              67
  40  DishSponge      -0.960         0.937          1.154          0              0              0              71
  41  Egg             1.587          1.621          1.546          0              270            0              85
  42  Cup             1.585          1.947          1.504          0              0              0              64
  43  Pan             1.378          1.737          0.392          0              270            0              54
  44  Spoon           -0.896         0.747          1.050          0              270            0              69
  45  Mug             1.652          1.591          1.808          0              270            0              85
  46  CounterTop      -0.973         0.973          2.386          0              0              0
  47  Drawer          -0.783         0.774          2.381          0              180            0
  48  StoveBurner     -1.108         0.922          1.470          0              0              0
  49  Drawer          1.370          0.774          2.391          0              0              0
  50  Stool           -0.748         0.008          3.116          0              0              0
  51  CounterTop      1.504          0.973          2.309          0              0              0
  52  Cabinet         1.219          1.388          0.591          0              0              0
  53  Cabinet         1.500          2.113          1.164          0              0              0
  54  Cabinet         1.219          2.010          0.591          0              0              0
  55  Cabinet         1.219          0.388          2.105          0              0              0
  56  Cabinet         1.219          0.553          0.591          0              0              0
  57  Cabinet         -0.913         2.113          1.164          0              0              0
  58  Cabinet         -0.633         0.388          0.627          0              0              0
  59  Cabinet         -0.913         2.050          -0.329         0              0              0
  60  Cabinet         -0.913         2.113          0.583          0              0              0
  61  Cabinet         -0.913         2.113          2.082          0              0              0
  62  Cabinet         -0.913         2.113          1.207          0              0              0
  63  Cabinet         1.500          2.113          2.082          0              0              0
  64  Cabinet         1.500          2.113          1.207          0              0              0
  65  Cabinet         1.500          1.810          2.691          0              0              0
  66  Cabinet         1.500          1.810          2.101          0              0              0
  67  Cabinet         -0.633         0.388          2.105          0              0              0
  68  Cabinet         -0.911         1.810          2.700          0              180            0
  69  Drawer          -0.783         0.774          0.915          0              180            0
  70  StoveBurner     -1.108         0.922          1.865          0              0              0
  71  CounterTop      -0.972         0.973          0.921          0              0              0
  72  Cabinet         1.219          0.388          0.631          0              0              0
  73  Sink            1.544          0.869          1.639          0              180            0
  74  StoveBurner     -0.832         0.922          1.865          0              0              0
  75  StoveBurner     -0.831         0.922          1.470          0              0              0
  76  Drawer          1.370          0.774          0.916          0              0              0
  77  Cabinet         -0.911         1.810          2.111          0              180            0
  78  Fridge          -1.001         0.0            0.119          0              0              0
  79  StoveKnob       -0.648         0.926          1.923          0              270            0
  80  StoveKnob       -0.648         0.926          1.363          0              270            0
  81  StoveKnob       -0.648         0.926          1.513          0              270            0
  82  StoveKnob       -0.648         0.926          1.763          0              270            0
  83  Toaster         -1.002         0.926          2.561          0              90             0
  84  GarbageCan      1.451          -0.029         2.912          0              0              0
  85  Microwave       1.632          1.480          1.645          0              270            0
  86  Window          0.224          1.601          3.509          90             0              0
  87  CoffeeMachine   1.692          0.926          2.453          0              270            0
  88  SinkBasin       1.461          0.833          1.369          0              180            0
  89  LightSwitch     0.451          1.412          -1.674         0              0              0
  90  Faucet          1.707          0.925          1.363          0              270            0
  91  NorthWall
  92  EastWall
  93  SouthWall
  94  WestWall

Plan:
STEP 1: go to the end of the counter on the right and turn to the right facing the counter top | STEP 2: pick up the tomato from the counter top | STEP 3: turn to the left and take few steps and turn to the right facing the refrigerator | STEP 4: open the refrigerator door and put the tomato on the shelf and close the door and wait and open the door and take out the tomato and close the refrigerator door | STEP 5: turn to the right and take a few steps and turn to the left facing the counter top | STEP 6: put the tomato on the counter top right of the spatula | END