Task: move the box from the floor 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           -5.5           0.901          0.75           0              90             0
   1  Bowl            -2.474         0.148          7.070          0              90             0              48
   2  KeyChain        -0.789         0.433          4.524          0              90             0              37
   3  KeyChain        -0.636         0.794          1.751          0              270            0              39
   4  Box             -5.983         0.162          5.764          0              347.562        0              48
   5  Statue          -2.186         1.276          7.177          0              0              0              53
   6  Vase            -0.585         0.794          2.377          0              270            0              39
   7  Vase            -5.920         0.442          4.915          0              0              0              49
   8  Newspaper       -0.631         0.365          3.915          0              90             0              37
   9  Laptop          -2.447         0.525          4.055          0              9.597          0              54
  10  WateringCan     -2.228         0.137          7.107          0              0              0
  11  Vase            -5.909         0.871          4.924          0              0              0              47
  12  CreditCard      -5.536         0.533          6.703          0              45             0              55
  13  Vase            -5.903         1.270          4.988          0              0              0              51
  14  KeyChain        -0.710         0.415          3.611          0              180            0              37
  15  Vase            -5.920         0.442          4.371          0              0              0              49
  16  Vase            -5.910         0.443          3.804          0              0              0              49
  17  Bowl            -0.636         0.795          5.726          0              270            0              38
  18  Pillow          -0.756         0.542          4.793          0              284.202        0              37
  19  Vase            -5.867         1.271          3.712          0              0              0              51
  20  RemoteControl   -5.859         0.536          6.456          0              135            0              55
  21  Watch           -0.326         0.793          2.154          0              0              0              39
  22  Statue          -2.696         1.271          7.103          0              162.053        0              53
  23  Statue          -2.277         0.454          7.259          0              180            0              46
  24  Statue          -2.422         0.543          4.480          0              270            0              54
  25  Statue          -3.128         1.271          7.139          0              96.687         0              53
  26  Mirror          -1.308         0.022          0.197          0              0              0
  27  DeskLamp        -0.600         0.797          1.955          0              0              0
  28  DeskLamp        -0.593         0.797          6.022          0              60.096         0
  29  FloorLamp       -4.615         0.016          0.314          0              0              0
  30  Television      -5.637         0.998          6.949          0              135            0
  31  LightSwitch     -4.419         1.279          0.0            0              0              0
  32  Painting        0.0            1.661          4.451          90             270            0
  33  Painting        0.0            1.661          3.414          90             270            0
  34  HousePlant      -5.884         1.296          4.516          0              0              0
  35  GarbageCan      -5.689         -0.024         0.242          0              0              0
  36  Window          -6.287         1.672          2.178          90             270            0
  37  Sofa            -0.773         0.023          3.915          0              270            0
  38  SideTable       -0.586         0.014          5.979          0              270            0
  39  SideTable       -0.585         0.014          2.002          0              270            0
  40  Chair           -3.539         0.015          2.007          0              15.000         0
  41  Chair           -2.268         0.015          1.955          0              345.000        0
  42  Shelf           -0.585         0.248          2.002          0              270            0
  43  Shelf           -0.586         0.248          5.979          0              270            0
  44  Shelf           -5.948         0.161          4.339          0              270            0
  45  Shelf           -2.853         0.898          7.174          0              180            0
  46  Shelf           -2.853         0.467          7.174          0              180            0
  47  Shelf           -5.948         0.898          4.335          0              270            0
  48  Shelf           -2.858         0.161          7.174          0              180            0
  49  Shelf           -5.948         0.467          4.335          0              270            0
  50  ShelvingUnit    -5.946         0.012          4.347          0              270            0
  51  Shelf           -5.948         1.293          4.349          0              270            0
  52  ShelvingUnit    -2.865         0.012          7.177          0              180            0
  53  Shelf           -2.868         1.293          7.174          0              180            0
  54  CoffeeTable     -2.492         0.018          4.043          0              270            0
  55  CoffeeTable     -5.555         0.018          6.835          0              315            0
  56  NorthWall
  57  SouthWall
  58  SouthWall

Plan:
STEP 1: turn left, walk to the box on the left | STEP 2: grab the box on the ground, | STEP 3: turn left, walk to the sofa | STEP 4: put the box on the sofa | END