Task: Put a jar and plate on a 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          0.920          3.25           0              270            0
   1  Plate           -2.402         0.453          4.722          0              0              0              42
   2  Newspaper       -2.402         0.455          4.058          0              0              0              42
   3  Newspaper       -2.893         0.453          3.836          0              0              0              42
   4  WateringCan     -0.594         0.617          0.919          0              0              0              39
   5  CreditCard      -2.402         0.447          4.279          0              0              0              42
   6  CreditCard      -2.648         0.449          3.614          0              0              0              42
   7  Box             -2.494         0.665          0.793          0              0              0              41
   8  Plate           -0.563         1.466          5.742          0              270            0              25
   9  Vase            -0.750         0.617          0.686          0              0              0              39
  10  WateringCan     -2.648         0.450          3.836          0              0              0              42
  11  Newspaper       -2.525         0.455          4.501          0              0              0              42
  12  Vase            -0.240         0.285          5.255          0              270            0              26
  13  KeyChain        -2.893         0.447          3.614          0              0              0              42
  14  Pillow          -1.578         0.608          0.667          0              0              0              41
  15  Statue          -0.397         0.286          6.739          0              270            0              26
  16  RemoteControl   -4.051         0.453          6.356          0              0              0              43
  17  CreditCard      -4.305         0.473          6.450          0              0              0              43
  18  Statue          -0.161         0.290          6.244          0              270            0              26
  19  Laptop          -4.342         0.523          2.224          0              32.685         0              40
  20  Statue          -0.240         0.287          5.503          0              270            0              26
  21  Curtains        -2.827         2.473          0.039          357.605        0              0
  22  Curtains        -2.184         2.473          0.039          357.605        0              0
  23  Curtains        -0.046         2.474          2.633          0              0              357.064
  24  DeskLamp        -0.484         0.612          0.691          0              0              1.144
  25  Shelf           -0.391         1.452          5.953          0              270            0
  26  Shelf           -0.398         0.270          5.961          0              270            0
  27  Television      -0.75          1.661          3.936          0              270            0
  28  GarbageCan      -0.525         -0.009         2.822          0              0              0
  29  Painting        -2.670         1.574          7.000          90             180            0
  30  Bowl            -2.400         0.464          3.442          0              0              0
  31  LightSwitch     -5.0           1.246          5.857          0              90             0
  32  Window          -1.373         1.565          0.008          90             180            0
  33  Window          -0.014         1.567          1.496          90             270            0
  34  Window          -3.726         1.565          0.008          90             180            0
  35  FloorLamp       -4.514         0.027          0.663          0              0              0
  36  HousePlant      -2.659         0.466          4.165          0              0              0
  37  Shelf           -0.594         0.104          0.841          0              0              0
  38  Shelf           -0.594         0.359          0.841          0              0              0
  39  SideTable       -0.594         0.018          0.841          0              0              0
  40  Sofa            -4.360         0.028          2.929          0              90             0
  41  Sofa            -2.493         0.028          0.725          0              0              0
  42  CoffeeTable     -2.648         0.019          4.058          0              270            0
  43  ArmChair        -4.446         0.017          6.450          0              90             0
  44  NorthWall
  45  SouthWall
  46  SouthWall

Plan:
STEP 1: Turn right, walk straight, turn right to the table | STEP 2: Pick up the glass jar on the table | STEP 3: Turn right, walk straight, turn right to the glass table | STEP 4: Put the glass jar on the table | STEP 5: Turn left, walk straight, turn right to the desk with the lamp | STEP 6: Pick up the blue plate on the desk | STEP 7: Turn right, turn right, walk straight, turn left to the glass table | STEP 8: Put the blue plate on the table | END