Task: place two colored disks on top of the dining room table

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.5           0.927          4.75           0              270            0
   1  Plate           -2.668         0.307          1.999          0              0              0              76
   2  Newspaper       -6.062         0.641          2.212          0              0              0              72
   3  CreditCard      -3.127         0.276          3.381          0              0              0              73
   4  RemoteControl   -2.723         0.278          3.381          0              0              0              73
   5  Box             -6.062         0.823          1.510          0              0              0              72
   6  Box             -5.694         0.823          3.266          0              0              0              72
   7  Statue          -6.589         1.022          5.172          0              180            0              33
   8  KeyChain        -4.782         1.583          5.205          0              0              0              54
   9  Vase            -1.701         0.930          0.179          0              0              0              27
  10  Vase            -0.764         0.940          0.203          0              0              0              44
  11  Vase            -1.838         1.285          0.186          0              180            0              37
  12  Newspaper       -5.939         0.641          3.266          0              0              0              72
  13  CreditCard      -1.004         0.273          2.315          0              0              0              74
  14  RemoteControl   -5.448         0.642          3.266          0              0              0              72
  15  Laptop          -5.694         0.639          1.510          0              270            0              72
  16  Pillow          -1.515         0.438          3.319          0              300.000        90             75
  17  Vase            -3.183         0.184          1.723          0              325.579        0              71
  18  Statue          -2.441         0.310          1.996          0              90             0              76
  19  Vase            -1.352         1.258          0.228          0              0              0              51
  20  Plate           -5.694         0.648          3.617          0              0              0              72
  21  Vase            -4.958         0.940          5.201          0              0              0              41
  22  Statue          -5.033         1.566          5.212          0              180            0              54
  23  Statue          -0.812         1.565          0.209          0              0              0              46
  24  Statue          -3.851         0.930          5.169          0              0              0              32
  25  Statue          -3.174         1.105          5.193          0              0              0              55
  26  Statue          -5.865         0.634          2.786          0              65.579         0              72
  27  Shelf           -1.776         0.988          0.184          0              180            0
  28  Chair           -5.413         0.024          1.780          0              0              0
  29  Cabinet         -5.365         1.170          5.031          0              0              0
  30  Chair           -5.388         0.024          3.369          0              355.695        0
  31  Chair           -6.211         0.024          2.517          0              172.601        0
  32  Shelf           -3.937         0.988          5.170          0              0              0
  33  Shelf           -6.572         1.144          5.170          0              0              0
  34  Cabinet         -4.181         1.873          5.029          0              0              0
  35  Shelf           -5.606         0.444          5.170          0              0              0
  36  Drawer          -6.324         0.823          5.001          0              0              0
  37  Cabinet         -2.017         1.714          0.323          0              180            0
  38  Cabinet         -2.465         1.329          5.029          0              0              0
  39  Drawer          -1.093         0.233          0.462          0              0              0
  40  Shelf           -4.672         1.317          5.170          0              0              0
  41  Shelf           -4.672         0.998          5.170          0              0              0
  42  Shelf           -2.221         0.444          5.170          0              0              0
  43  Drawer          -6.324         0.508          5.001          0              0              0
  44  Shelf           -1.041         0.998          0.184          0              180            0
  45  Drawer          -4.264         0.233          0.462          0              0              0
  46  Shelf           -0.810         1.688          0.185          0              180            0
  47  Shelf           -2.671         0.610          0.272          0              90             0
  48  Drawer          -2.681         0.233          0.462          0              0              0
  49  Drawer          -2.940         0.508          5.001          0              0              0
  50  Cabinet         -3.696         1.714          5.031          0              0              0
  51  Shelf           -1.041         1.317          0.184          0              180            0
  52  Cabinet         -1.532         1.873          0.325          0              180            0
  53  Chair           -5.382         0.024          2.695          0              6.230          0
  54  Shelf           -4.903         1.688          5.170          0              0              0
  55  Shelf           -3.187         1.144          5.170          0              0              0
  56  Drawer          -2.940         0.823          5.001          0              0              0
  57  Chair           -6.252         0.024          3.427          0              195.000        0
  58  Cabinet         -5.850         1.329          5.029          0              0              0
  59  Cabinet         -1.980         1.170          5.031          0              0              0
  60  Chair           -6.296         0.024          1.672          0              180            0
  61  FloorLamp       -0.369         0.016          4.992          0              59.992         0
  62  GarbageCan      -6.846         0.024          0.258          0              91.057         0
  63  Television      -3.503         1.506          0.001          0              0              0
  64  LightSwitch     0.0            1.184          4.410          0              270            0
  65  HousePlant      -1.105         0.315          2.740          0              0              0
  66  Painting        -5.769         1.394          -0.026         90             180            0
  67  Window          0.001          1.246          2.471          90             270            0
  68  Window          0.001          1.246          3.558          90             270            0
  69  Window          0.001          1.246          1.368          90             270            0
  70  Painting        -0.967         1.396          5.268          90             180            0
  71  CoffeeTable     -3.002         0.028          1.726          0              0              0
  72  DiningTable     -5.816         0.025          2.563          0              270            0
  73  Sofa            -3.328         0.023          3.632          0              180            0
  74  ArmChair        -1.012         0.028          2.084          0              270            0
  75  ArmChair        -1.577         0.028          3.295          0              210.000        0
  76  CoffeeTable     -2.667         0.025          1.999          0              5.810          0
  77  NorthWall
  78  EastWall
  79  SouthWall
  80  WestWall

Plan:
STEP 1: move forwards past the couch on the left, then turn left and walk past the other side of the couch, then another left to walk over to the coffee table up ahead | STEP 2: grab a red disk off of the table there | STEP 3: turn around and walk over to the dining room table | STEP 4: place the disk on top of the dining room table | STEP 5: turn right and walk over to the end of the room where the white shelves are | STEP 6: take the golden disk off of the white shelves there | STEP 7: turn around and walk back over to the right side of the dining room table | STEP 8: place the gold disk on top of the dining room table | END