Task: place black figure and green figure on table with lamp

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -4.75          0.920          5.25           0              90             0
   1  Newspaper       -2.494         0.548          0.984          0              0              0              44
   2  Newspaper       -0.319         0.286          5.255          0              0              0              29
   3  WateringCan     -0.240         0.281          5.503          0              270            0              29
   4  KeyChain        -3.015         0.447          4.279          0              0              0              45
   5  KeyChain        -4.305         0.442          6.45           0              0              0              46
   6  CreditCard      -4.390         0.441          6.356          0              0              0              46
   7  RemoteControl   -2.280         0.450          4.058          0              0              0              45
   8  RemoteControl   -2.648         0.450          4.279          0              0              0              45
   9  Laptop          -2.648         0.447          4.722          0              0              0              45
  10  Box             -0.464         0.399          6.548          0              0              0              29
  11  Plate           -0.555         0.285          5.997          0              270            0              29
  12  Vase            -2.525         0.449          4.058          0              0              0              45
  13  WateringCan     -0.240         0.281          5.997          0              270            0              29
  14  Newspaper       -0.563         1.467          5.989          0              270            0              28
  15  Vase            -0.585         1.452          6.434          0              0              0              28
  16  KeyChain        -2.402         0.449          3.836          0              0              0              45
  17  Pillow          -1.578         0.608          0.667          0              0              0              44
  18  Statue          -0.461         0.270          5.703          0              285.188        0              29
  19  RemoteControl   -2.893         0.448          3.836          0              0              0              45
  20  CreditCard      -2.648         0.449          3.836          0              0              0              45
  21  Statue          -0.600         1.471          5.495          0              270            0              28
  22  Laptop          -4.342         0.523          2.224          0              32.685         0              43
  23  Statue          -2.280         0.456          4.279          0              0              0              45
  24  Curtains        -2.827         2.473          0.039          357.605        0              0
  25  Curtains        -2.184         2.473          0.039          357.605        0              0
  26  Curtains        -0.046         2.474          2.633          0              0              357.064
  27  DeskLamp        -0.484         0.612          0.691          0              0              1.144
  28  Shelf           -0.391         1.452          5.953          0              270            0
  29  Shelf           -0.398         0.270          5.961          0              270            0
  30  Television      -0.75          1.661          3.936          0              270            0
  31  GarbageCan      -0.525         -0.009         2.822          0              0              0
  32  Painting        -2.670         1.574          7.000          90             180            0
  33  Bowl            -2.400         0.464          3.442          0              0              0
  34  LightSwitch     -5.0           1.246          5.857          0              90             0
  35  Window          -1.373         1.565          0.008          90             180            0
  36  Window          -0.014         1.567          1.496          90             270            0
  37  Window          -3.726         1.565          0.008          90             180            0
  38  FloorLamp       -4.514         0.027          0.663          0              0              0
  39  HousePlant      -2.659         0.466          4.165          0              0              0
  40  Shelf           -0.594         0.104          0.841          0              0              0
  41  Shelf           -0.594         0.359          0.841          0              0              0
  42  SideTable       -0.594         0.018          0.841          0              0              0
  43  Sofa            -4.360         0.028          2.929          0              90             0
  44  Sofa            -2.493         0.028          0.725          0              0              0
  45  CoffeeTable     -2.648         0.019          4.058          0              270            0
  46  ArmChair        -4.446         0.017          6.450          0              90             0
  47  NorthWall
  48  SouthWall
  49  SouthWall

Plan:
STEP 1: go forward to black shelf to the left with box and two white mugs | STEP 2: pick up black statue from black shelf | STEP 3: turn right, go to black table with lamp to the left of couch | STEP 4: place black statue on front right corner of black table with lamp | STEP 5: turn around, go to black shelf on the right, look up to shelf with green figure | STEP 6: pick up green figure from shelf | STEP 7: turn right, go to black table with lamp to the left of couch | STEP 8: place green figure to the left of black figure on table with lamp | END