Task: Place two plates on a 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          0.0            0              270            0
   1  Plate           -2.269         0.689          1.052          0              0              0              57
   2  Plate           -2.490         0.689          1.175          0              0              0              57
   3  Newspaper       -2.396         0.605          4.731          0              0              0              45
   4  Newspaper       -2.712         0.690          1.546          0              0              0              58
   5  Watch           -2.086         0.600          5.120          0              0              0              45
   6  Vase            -1.825         0.693          1.299          0              0              0              54
   7  Pen             -4.868         0.059          0.362          0              90             0              34
   8  Pen             -1.986         0.654          -0.077         0              0              0              53
   9  Pencil          -2.396         0.098          4.731          0              0              0              48
  10  Book            -0.888         0.454          5.967          0              135            0              43
  11  CreditCard      -1.609         0.479          3.525          0              0              0              50
  12  RemoteControl   -2.253         0.750          -0.115         0              0              0              52
  13  Pillow          -2.668         0.557          3.615          0              0              0              50
  14  Book            -2.241         0.350          4.809          0              0              0              46
  15  Box             -1.603         0.888          1.793          0              0              0              56
  16  Statue          -2.934         0.695          1.175          0              0              0              55
  17  Laptop          -2.139         0.478          3.615          0              0              0              50
  18  TissueBox       -2.510         0.239          6.083          0              0              0              47
  19  CreditCard      -2.532         0.747          -0.202         0              0              0              52
  20  Plate           -2.269         0.689          1.299          0              0              0              44
  21  KeyChain        -1.073         0.433          5.913          0              225            0              43
  22  Vase            -2.259         0.242          6.119          0              0              0              47
  23  Pencil          -2.241         0.098          4.964          0              0              0              48
  24  Pillow          -3.271         0.661          3.44           0              0              331.220        50
  25  Bowl            -1.603         0.688          1.175          0              0              0              54
  26  RemoteControl   -0.316         0.708          3.200          0              0              0              40
  27  Watch           -2.473         0.348          5.120          0              0              0              46
  28  Pen             -2.761         0.243          6.192          0              0              0              47
  29  Newspaper       -2.114         0.749          -0.028         0              0              0              52
  30  Painting        -2.048         1.615          -0.303         0              0              0
  31  Curtains        -0.083         2.420          0.969          0              0              0
  32  Television      -2.357         1.205          6.245          0              180            0
  33  HousePlant      -2.933         0.595          -0.093         0              0              0
  34  GarbageCan      -4.864         -0.001         0.267          0              90             0
  35  FloorLamp       -0.566         0.002          0.024          0              316.932        0
  36  DeskLamp        -0.273         0.700          3.612          0              0              0
  37  Window          -0.057         0.925          1.764          90             270            0
  38  Window          -0.057         1.130          4.886          90             270            0
  39  LightSwitch     -3.305         1.340          -0.314         0              0              0
  40  SideTable       -0.255         0.001          3.369          0              270            0
  41  Drawer          -0.306         0.626          3.369          0              270            0
  42  ArmChair        -4.376         -8.374         6.016          0              152.639        0
  43  ArmChair        -0.847         -8.106         5.983          0              231.318        0
  44  DiningTable     -2.268         -0.016         1.422          0              0              0
  45  CoffeeTable     -2.326         0.002          4.922          0              0              0
  46  Shelf           -2.326         0.338          4.922          0              0              0
  47  Shelf           -2.385         0.238          6.296          0              0              0
  48  Shelf           -2.326         0.089          4.922          0              0              0
  49  TVStand         -2.385         0.006          6.296          0              0              0
  50  Sofa            -2.404         -0.003         3.417          0              0              0
  51  SideTable       -2.935         0.004          -0.103         0              0              0
  52  SideTable       -2.113         0.002          -0.139         0              0              0
  53  Drawer          -2.113         0.654          -0.069         0              0              0
  54  Chair           -1.862         0.020          1.035          0              0              0
  55  Chair           -3.122         0.020          1.410          0              104.999        0
  56  Chair           -1.864         0.020          1.838          0              185.032        0
  57  Chair           -2.507         0.020          0.991          0              6.189          0
  58  Chair           -2.519         0.020          1.882          0              164.977        0
  59  Chair           -1.335         0.020          1.430          0              270            0
  60  NorthWall
  61  EastWall
  62  SouthWall
  63  WestWall

Plan:
STEP 1: Turn around and hang a left midway beyond the black table to face the dining table. | STEP 2: Pick up the white plate on the left side of the table to the right of the statue. | STEP 3: Turn left, hang a right at the trash can and turn right just beyond the black couch to face the glass coffee table. | STEP 4: Place the white plate on the bottom shelf of the coffee table. | STEP 5: Turn around, hang a left at the trash can and walk to the dining table on your left. | STEP 6: Pick up the white plate closest to the edge of the dining table. | STEP 7: Turn left, hang a right at the trash can and turn right just beyond the black couch to face the glass coffee table. | STEP 8: Place the white plate on top of the coffee table in the back left corner. | END