Task: place two objects on top of 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           -5.5           0.902          -1.0           0              0              0
   1  Watch           -3.795         0.076          -5.074         0              0              0              43
   2  Statue          -2.648         0.710          -5.188         0              0              0              41
   3  Pen             -4.073         0.710          -4.999         0              0              0              41
   4  Pen             -4.358         0.710          -4.952         0              0              0              41
   5  KeyChain        -4.230         0.332          -1.462         0              0              0              40
   6  Book            -2.151         0.587          -2.492         0              0              0              38
   7  RemoteControl   -4.384         0.334          -1.462         0              0              0              40
   8  RemoteControl   -2.363         0.590          -1.996         0              0              0              38
   9  Laptop          -3.503         0.701          -5.093         0              0              0              41
  10  Box             -2.362         0.261          -1.647         0              76.161         0              Floor|-04.47|
  11  Book            -5.217         0.481          -5.171         0              0              0              39
  12  Newspaper       -4.265         0.34           -2.164         0              0              0              40
  13  Watch           -3.908         0.076          -4.976         0              0              0              43
  14  Pen             -2.829         0.703          -4.962         0              0              0              41
  15  WateringCan     -7.991         0.000          -4.629         0              296.796        0              Floor|-04.47|
  16  Pillow          -4.187         0.442          -3.593         0              90             0              35
  17  CreditCard      -4.022         0.384          -5.050         0              0              0              45
  18  Vase            -4.477         0.697          -5.076         0              0              0              41
  19  KeyChain        -4.461         0.345          -1.877         0              90             0              40
  20  Vase            -4.218         0.697          -5.046         0              0              0              41
  21  Laptop          -2.568         0.580          -2.514         0              300.000        0              38
  22  Statue          -2.574         0.594          -2.161         0              0              0              38
  23  Vase            -1.971         0.487          -5.032         0              0              0              37
  24  RemoteControl   -4.487         0.337          -3.665         0              90             0              35
  25  Vase            -2.933         0.705          -5.093         0              0              0              41
  26  Mirror          -3.402         2.028          0.000          0              0              0
  27  FloorLamp       -4.821         0.000          -5.118         0              0              0
  28  LightSwitch     -5.763         1.330          0.010          0              180            0
  29  GarbageCan      -0.969         -0.027         -5.058         0              0              0
  30  HousePlant      -5.629         0.478          -5.126         0              0              0
  31  Painting        -3.372         1.800          -5.392         90             180            0
  32  Television      -0.606         1.674          -2.602         0              270            0
  33  Window          -8.237         1.411          -1.509         90             270            0
  34  Window          -8.237         1.411          -4.081         90             270            0
  35  ArmChair        -4.334         0.001          -3.528         0              90             0
  36  Shelf           -2.475         0.124          -2.486         0              90             0
  37  SideTable       -2.016         0.002          -5.075         0              180            0
  38  CoffeeTable     -2.474         0.001          -2.489         0              90             0
  39  SideTable       -5.428         0.002          -5.123         0              180            0
  40  Sofa            -4.354         0.009          -2.089         0              90             0
  41  Dresser         -3.505         0.003          -5.101         0              0              0
  42  Drawer          -2.981         0.481          -5.031         0              0              0
  43  Drawer          -4.022         0.169          -5.013         0              0              0
  44  Drawer          -2.978         0.169          -5.013         0              0              0
  45  Drawer          -4.022         0.477          -5.013         0              0              0
  46  NorthWall
  47  EastWall
  48  SouthWall
  49  WestWall

Plan:
STEP 1: turn and walk over to the small brown table next to the blue trash bin | STEP 2: grab the green vase off of the table | STEP 3: turn to the right and walk over to the coffee table | STEP 4: place the green vase on the left side of the coffee table | STEP 5: turn and walk over to the brown cabinet to the right of the small brown table | STEP 6: grab the gold top off of the cabinet | STEP 7: walk back over to the coffee table | STEP 8: place the gold top on the right side of the coffee table | END