Task: Move an empty box to the sofa

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           1.25           0.900          -1.25          0              270            0
   1  Watch           -0.411         0.552          -0.365         0              270            0              28
   2  Newspaper       -0.922         0.324          -1.917         0              90             0              30
   3  Newspaper       1.724          0.869          0.220          0              90             0              34
   4  Box             1.724          0.202          0.44           0              9.539          0              36
   5  KeyChain        1.849          0.871          0.008          0              90             0              34
   6  Watch           -0.582         0.360          -0.152         0              270            0              37
   7  Newspaper       1.807          0.868          0.537          0              90             0              34
   8  Pillow          0.151          0.561          -1.794         0              0              45             30
   9  CreditCard      -0.711         0.357          -0.120         0              270            0              25
  10  RemoteControl   -0.260         0.553          -0.106         0              270            0              28
  11  Laptop          -0.981         0.530          -0.37          0              33.821         0              28
  12  Statue          -0.966         1.669          -2.3           0              0              0              28
  13  Statue          0.014          1.595          -2.3           0              0              0              28
  14  GarbageCan      -2.555         0.011          0.734          1.547          90             356.583
  15  LightSwitch     0.405          1.373          -2.400         0              0              0
  16  FloorLamp       1.728          -0.004         -2.084         0              13.085         0
  17  HousePlant      -0.561         0.549          -0.352         0              0              0
  18  Painting        1.909          1.457          0.300          90             270            0
  19  Television      -2.319         1.736          -1.994         0              45             0
  20  Window          -2.009         1.524          1.031          90             0              0
  21  Window          -0.432         1.524          1.031          90             0              0
  22  Window          -2.828         1.511          -0.025         90             270            0
  23  Drawer          -0.711         0.077          -0.556         0              180            0
  24  Drawer          -0.711         0.077          -0.173         0              180            0
  25  Drawer          -0.711         0.395          -0.173         0              180            0
  26  Drawer          -0.711         0.236          -0.173         0              180            0
  27  Drawer          -0.711         0.395          -0.556         0              180            0
  28  CoffeeTable     -0.711         0.002          -0.364         0              180            0
  29  Drawer          -0.716         0.236          -0.556         0              180            0
  30  Sofa            -0.500         0.008          -1.886         0              0              0
  31  Blinds          -0.395         2.135          0.922          0              0              0
  32  Blinds          -2.736         2.135          0.002          0              270            0
  33  Blinds          -2.0           2.135          0.922          0              0              0
  34  SideTable       1.807          0.000          0.326          0              270            0
  35  Drawer          1.743          0.774          0.325          0              270            0
  36  ArmChair        1.509          0.000          -0.588         0              270            0
  37
  38  NorthWall
  39  EastWall
  40  SouthWall
  41  WestWall

Plan:
STEP 1: Move to the wood desk to the left of the brown chair | STEP 2: Pick up the empty box under the desk on the floor | STEP 3: Carry the box to the large brown sofa | STEP 4: Place the box in the middle of the sofa | END