Task: Put a vase and a lid on a small dresser.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.25           0.900          2.0            0              270            0
   1  Vase            -1.730         1.147          -1.959         0              90             0              43
   2  Vase            -1.583         0.973          0.464          0              0              0              48
   3  CellPhone       -1.436         0.972          -0.339         0              0              0              48
   4  CellPhone       0.296          0.775          -0.106         0              0              0              30
   5  Pen             -1.636         1.152          -1.959         0              90             0              43
   6  Pencil          -1.794         0.670          -2.177         0              0              0              44
   7  Pencil          -1.605         1.151          -1.845         0              90             0              43
   8  CreditCard      2.132          0.435          1.845          0              90             0              64
   9  CreditCard      2.411          0.445          1.925          0              90             0              64
  10  Book            0.537          0.774          -0.106         0              0              0              30
  11  Book            1.261          0.774          0.188          0              0              0              30
  12  AlarmClock      -1.699         1.637          -1.959         0              90             0              42
  13  Pillow          1.743          0.836          -0.401         0              0              0              30
  14  Book            -1.720         0.035          -0.536         0              180            0              56
  15  KeyChain        -1.437         0.038          -0.255         0              0              0              56
  16  AlarmClock      2.289          0.673          -1.636         0              0              0              61
  17  Pillow          1.261          0.836          -0.695         0              0              0              30
  18  Pillow          0.652          0.794          -1.531         0              0              0              30
  19  Vase            -1.583         0.971          -0.339         0              0              0              48
  20  Laptop          1.502          0.773          -1.284         0              0              0              30
  21  Vase            -1.650         1.626          -2.316         0              0              0              42
  22  Pencil          -1.668         1.643          -2.415         0              90             0              42
  23  CreditCard      1.519          0.082          2.153          0              0              0              59
  24  Boots           -1.842         0.000          -1.077         0              135            0
  25  Pen             -1.657         0.977          -0.540         0              0              0              48
  26  CellPhone       1.743          0.775          -1.579         0              0              0              30
  27  CD              -1.730         1.145          -2.073         0              90             0              43
  28  Bowl            -1.583         0.972          0.062          0              0              0              48
  29  Statue          -1.657         0.982          -0.742         0              90             0              48
  30  Bed             1.017          0.003          -0.686         0              180            0
  31  HousePlant      -1.749         0.971          0.463          0              0              0
  32  GarbageCan      -1.665         -0.000         0.953          0              45             0
  33  Painting        0.381          1.976          -1.895         90             0              0
  34  Painting        0.879          1.976          -1.895         90             0              0
  35  Painting        1.373          1.976          -1.895         90             0              0
  36  LightSwitch     -0.164         1.085          2.450          0              180            0
  37  Mirror          -1.950         1.735          -0.206         0              270            0
  38  Window          -1.098         1.570          -3.230         90             0              0
  39  DeskLamp        1.404          0.668          2.209          0              0              0
  40  DeskLamp        2.596          0.668          -1.710         0              0              0
  41  Blinds          -1.062         2.361          -3.173         0              0              0
  42  Shelf           -1.675         1.871          -2.053         0              90             0
  43  Shelf           -1.675         1.383          -2.053         0              90             0
  44  Drawer          -1.715         0.832          -2.053         0              90             0
  45  ShelvingUnit    -1.723         0.007          -2.053         0              90             0
  46  Drawer          -1.713         0.339          -2.053         0              90             0
  47  Drawer          -1.629         0.104          0.243          0              90             0
  48  Dresser         -1.674         0.000          -0.153         0              90             0
  49  Drawer          -1.630         0.868          -0.550         0              90             0
  50  Drawer          -1.630         0.680          0.243          0              90             0
  51  Drawer          -1.629         0.104          -0.550         0              90             0
  52  Drawer          -1.630         0.680          -0.550         0              90             0
  53  Drawer          -1.630         0.868          0.243          0              90             0
  54  Drawer          -1.629         0.486          -0.550         0              90             0
  55  Drawer          -1.629         0.291          0.243          0              90             0
  56  Drawer          -1.629         0.291          -0.550         0              90             0
  57  Drawer          -1.630         0.486          0.243          0              90             0
  58  SideTable       1.576          -0.001         2.137          0              180            0
  59  Drawer          1.576          0.163          2.070          0              180            0
  60  Drawer          1.576          0.455          2.070          0              180            0
  61  SideTable       2.437          -0.001         -1.603         0              0              0
  62  Drawer          2.438          0.163          -1.536         0              0              0
  63  Drawer          2.438          0.455          -1.536         0              0              0
  64  ArmChair        2.393          -0.001         1.943          0              180            0
  65  NorthWall
  66  EastWall
  67  SouthWall
  68  WestWall

Plan:
STEP 1: Cross the room to the window, then turn to the bookcase on the right. | STEP 2: Pick up the vase on the shelf. | STEP 3: Cross the room to the door, turn right, then turn to the dresser on the left. | STEP 4: Place the vase on the dresser. | STEP 5: Turn left, then left again at the door, then turn to the large dresser on the right. | STEP 6: Pick up the gold lid on the dresser. | STEP 7: Head toward the door, then turn right, then turn back to the small dresser on the left. | STEP 8: Place the lid to the right of the vase. | END