        # Step 3: Pick item2 from the table
        print("[Task] Picking item2 at:", item2_pos)
        obs, reward, done = pick(
            env,
            task,
            target_pos=item2_pos,
            approach_distance=0.15,
            max_steps=100,
            threshold=0.01,
            approach_axis='z',
            timeout=10.0
        )
        if done:
            print("[Task] Task ended after picking item2!")
            return

        # Step 4: Place item2 onto the plate
        print("[Task] Placing item2 at:", plate_pos)
        obs, reward, done = place(
            env,
            task,
            target_pos=plate_pos,
            approach_distance=0.15,
            max_steps=100,
            threshold=0.01,
            approach_axis='z',
            timeout=10.0
        )
        if done:
            print("[Task] Task ended after placing item2!")
            return

        print("[Task] Completed placing both items onto plate. Final reward:", reward)