Task: Put two plates on a coffee table.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.75          0.900          1.25           0              0              0
   1  Plate           0.636          0.552          6.818          0              0              0              35
   2  Statue          -5.392         0.792          4.246          0              0              0              38
   3  Newspaper       0.847          0.982          3.921          0              0              0              50
   4  KeyChain        -5.639         0.787          4.467          0              180            0              38
   5  KeyChain        0.636          0.550          6.382          0              0              0              35
   6  CellPhone       1.034          0.986          3.298          0              0              0              50
   7  CreditCard      -2.092         0.524          3.302          0              38.001         0              46
   8  RemoteControl   -3.502         0.550          1.473          0              0              0              34
   9  RemoteControl   -2.255         0.522          3.429          0              38.001         0              46
  10  Box             -3.311         0.744          1.560          0              270            0              34
  11  Laptop          -5.762         0.780          4.689          0              0              0              38
  12  Box             -1.591         0.498          2.277          0              26.831         0              37
  13  CellPhone       -1.369         0.316          2.386          0              39.022         0              37
  14  WateringCan     0.829          -0.001         2.339          0              45             0              Floor|-03.10|
  15  Newspaper       -1.551         0.308          2.533          0              39.022         0              37
  16  KeyChain        0.787          0.538          4.013          0              0              0              51
  17  Plate           -5.807         0.781          4.222          0              0              0              38
  18  Pillow          -2.719         0.609          2.768          0              320.647        0              46
  19  RemoteControl   0.659          0.983          3.921          0              0              0              50
  20  CreditCard      0.684          0.099          3.240          0              0              0              47
  21  Laptop          -5.464         0.779          5.252          0              306.871        0              38
  22  Statue          -1.814         0.319          2.581          0              309.022        0              37
  23  Curtains        -1.046         3.500          2.880          0              0              0
  24  HousePlant      -3.580         0.548          1.659          0              0              0
  25  Television      0.852          1.460          3.726          357.954        270            0
  26  Painting        -3.813         1.809          1.008          90             90             0
  27  DeskLamp        0.890          0.545          6.822          0              0              0
  28  GarbageCan      -7.102         -0.044         2.295          0              90             0
  29  FloorLamp       -3.494         0.006          0.390          0              0              0
  30  LightSwitch     -5.234         1.391          7.031          0              180            0
  31  Window          -1.985         1.646          -0.009         90             180            0
  32  Window          -4.909         0.990          2.015          90             180            0
  33  Window          -5.796         1.072          1.871          90             180            0
  34  SideTable       -3.407         0.005          1.656          0              270            0
  35  SideTable       0.732          0.005          6.634          0              270            0
  36  Chair           -0.139         0.005          6.412          0              149.999        0
  37  CoffeeTable     -1.546         0.004          2.528          0              39.022         0
  38  DiningTable     -5.639         -0.003         4.910          0              270            0
  39  Chair           -3.159         0.005          0.869          0              97.469         0
  40  Chair           -5.192         0.002          4.682          0              281.219        0
  41  Chair           -5.181         0.002          5.293          0              266.218        0
  42  Chair           -6.046         0.002          4.560          0              86.218         0
  43  Chair           -5.624         0.002          5.750          0              180            0
  44  Chair           -6.036         0.002          5.235          0              93.544         0
  45  Chair           -5.580         0.002          4.099          0              357.508        0
  46  Sofa            -2.465         0.004          3.281          0              128.001        0
  47  Drawer          0.748          0.237          3.330          0              270            0
  48  Drawer          0.748          0.668          3.330          0              270            0
  49  Drawer          0.748          0.235          4.097          0              270            0
  50  Dresser         0.846          0.002          3.713          0              270            0
  51  Drawer          0.748          0.665          4.097          0              270            0
  52  NorthWall
  53  EastWall
  54  SouthWall
  55  WestWall

Plan:
STEP 1: Go around the coffee table to the right, go towards the white chair across the room, turn right, go forward to the wall, turn left, go forward to the side table to the right of the white chair. | STEP 2: Take the black plate from the side table. | STEP 3: Turn around go forward to the fireplace. Turn right to the coffee table. Go to the coffee table. | STEP 4: Put the black plate on the coffee table. | STEP 5: Turn right, go forward to the white chair, turn left, go forward to the dining table, around left to the left short side of the dining table. | STEP 6: Take the black plate from the table | STEP 7: Turn right, go forward, turn right, go towards the wall, turn right, go towards the wall near the dresser, after passing the couch turn right, go towards the coffee table, turn right to face the coffee table. | STEP 8: Put the plate above the first plate on the coffee table. | END