Task: put the two plates on the 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           -4.0           0.902          2.25           0              0              0
   1  Bowl            -2.473         0.348          5.042          0              0              0              45
   2  Plate           -2.712         0.689          1.052          0              0              0              56
   3  TissueBox       -2.318         0.602          4.731          0              0              0              44
   4  TissueBox       -1.695         0.749          -0.028         0              0              0              51
   5  Newspaper       -2.668         0.481          3.795          0              0              0              49
   6  Watch           -2.510         0.238          6.119          0              0              0              46
   7  Statue          -2.490         0.695          1.423          0              0              0              43
   8  Statue          -2.490         0.695          1.052          0              0              0              56
   9  Pencil          -1.731         0.651          -0.077         0              0              0              52
  10  CreditCard      -2.139         0.479          3.615          0              0              0              49
  11  RemoteControl   -4.126         0.435          5.701          0              59.999         0              41
  12  Pillow          -2.404         0.557          3.525          0              0              0              49
  13  Book            -2.318         0.100          4.887          0              0              0              47
  14  Box             -3.362         0.219          6.426          0              0              0              46
  15  Statue          -2.532         0.753          -0.072         0              0              0              51
  16  Laptop          -1.698         0.680          1.659          0              329.236        0              55
  17  TissueBox       -2.761         0.239          6.119          0              0              0              46
  18  CreditCard      -2.241         0.649          -0.077         0              0              0              52
  19  Plate           -2.047         0.689          1.670          0              0              0              55
  20  KeyChain        -3.198         0.480          3.436          0              0              0              49
  21  Vase            -2.047         0.693          1.299          0              0              0              53
  22  Pencil          -4.840         0.056          0.362          0              90             0              33
  23  Pillow          -3.271         0.661          3.44           0              0              331.220        49
  24  Bowl            -1.825         0.688          1.175          0              0              0              53
  25  RemoteControl   -1.874         0.482          3.346          0              0              0              49
  26  Watch           -2.259         0.238          6.192          0              0              0              46
  27  Pen             -2.368         0.654          -0.077         0              0              0              52
  28  Newspaper       -1.974         0.749          -0.159         0              0              0              51
  29  Painting        -2.048         1.615          -0.303         0              0              0
  30  Curtains        -0.083         2.420          0.969          0              0              0
  31  Television      -2.357         1.205          6.245          0              180            0
  32  HousePlant      -2.933         0.595          -0.093         0              0              0
  33  GarbageCan      -4.864         -0.001         0.267          0              90             0
  34  FloorLamp       -0.566         0.002          0.024          0              316.932        0
  35  DeskLamp        -0.273         0.700          3.612          0              0              0
  36  Window          -0.057         0.925          1.764          90             270            0
  37  Window          -0.057         1.130          4.886          90             270            0
  38  LightSwitch     -3.305         1.340          -0.314         0              0              0
  39  SideTable       -0.255         0.001          3.369          0              270            0
  40  Drawer          -0.306         0.626          3.369          0              270            0
  41  ArmChair        -4.376         -8.374         6.016          0              152.639        0
  42  ArmChair        -0.847         -8.106         5.983          0              231.318        0
  43  DiningTable     -2.268         -0.016         1.422          0              0              0
  44  CoffeeTable     -2.326         0.002          4.922          0              0              0
  45  Shelf           -2.326         0.338          4.922          0              0              0
  46  Shelf           -2.385         0.238          6.296          0              0              0
  47  Shelf           -2.326         0.089          4.922          0              0              0
  48  TVStand         -2.385         0.006          6.296          0              0              0
  49  Sofa            -2.404         -0.003         3.417          0              0              0
  50  SideTable       -2.935         0.004          -0.103         0              0              0
  51  SideTable       -2.113         0.002          -0.139         0              0              0
  52  Drawer          -2.113         0.654          -0.069         0              0              0
  53  Chair           -1.862         0.020          1.035          0              0              0
  54  Chair           -3.122         0.020          1.410          0              104.999        0
  55  Chair           -1.864         0.020          1.838          0              185.032        0
  56  Chair           -2.507         0.020          0.991          0              6.189          0
  57  Chair           -2.519         0.020          1.882          0              164.977        0
  58  Chair           -1.335         0.020          1.430          0              270            0
  59  NorthWall
  60  EastWall
  61  SouthWall
  62  WestWall

Plan:
STEP 1: turn right, walk to the computer on the right | STEP 2: grab he plate by the compute | STEP 3: turn right, walk around the sofa to the coffee table | STEP 4: put the plate on the second layer of the coffee table | STEP 5: turn around, walk to the door, turn left, walk to the dining table | STEP 6: grab the plate on the table | STEP 7: turn left, turn right, walk around the sofa to the coffee table | STEP 8: put the plate on the coffee table | END