Task: Put the urn and vase on the table by the chair.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           2.25           0.900          -1.0           0              0              0
   1  Bowl            -1.583         0.972          -0.742         0              0              0              44
   2  Statue          -1.509         0.980          0.062          0              90             0              44
   3  CD              -1.436         0.971          -0.339         0              0              0              44
   4  CellPhone       -1.657         0.972          0.464          0              0              0              44
   5  CellPhone       2.592          0.433          1.584          0              90             0              60
   6  CreditCard      -1.607         0.036          -0.723         0              0              0              52
   7  Book            -1.804         0.971          0.062          0              0              0              44
   8  AlarmClock      -1.583         0.970          0.263          0              0              0              44
   9  Laptop          1.743          0.773          -0.106         0              0              0              26
  10  Book            -1.664         0.604          -0.721         0              0              0              50
  11  KeyChain        -1.509         0.972          -0.339         0              0              0              44
  12  AlarmClock      -1.583         0.970          -0.138         0              0              0              44
  13  Pillow          1.413          0.794          -1.505         0              0              0              26
  14  Pillow          0.652          0.794          -1.531         0              0              0              26
  15  Vase            -1.668         1.147          -1.959         0              90             0              39
  16  Laptop          0.778          0.773          -0.990         0              0              0              26
  17  Vase            -1.650         1.626          -2.316         0              0              0              38
  18  Pencil          -1.878         0.976          -0.138         0              90             0              44
  19  CreditCard      -1.730         1.146          -2.187         0              90             0              39
  20  Boots           -1.842         0.000          -1.077         0              135            0
  21  Pen             -1.605         1.643          -2.187         0              90             0              38
  22  CellPhone       1.02           0.775          -0.106         0              0              0              26
  23  CD              1.576          0.082          2.153          0              0              0              55
  24  Bowl            -1.699         1.637          -2.073         0              90             0              38
  25  Statue          -1.764         0.965          -0.758         0              59.718         0              44
  26  Bed             1.017          0.003          -0.686         0              180            0
  27  HousePlant      -1.749         0.971          0.463          0              0              0
  28  GarbageCan      -1.665         -0.000         0.953          0              45             0
  29  Painting        0.381          1.976          -1.895         90             0              0
  30  Painting        0.879          1.976          -1.895         90             0              0
  31  Painting        1.373          1.976          -1.895         90             0              0
  32  LightSwitch     -0.164         1.085          2.450          0              180            0
  33  Mirror          -1.950         1.735          -0.206         0              270            0
  34  Window          -1.098         1.570          -3.230         90             0              0
  35  DeskLamp        1.404          0.668          2.209          0              0              0
  36  DeskLamp        2.596          0.668          -1.710         0              0              0
  37  Blinds          -1.062         2.361          -3.173         0              0              0
  38  Shelf           -1.675         1.871          -2.053         0              90             0
  39  Shelf           -1.675         1.383          -2.053         0              90             0
  40  Drawer          -1.715         0.832          -2.053         0              90             0
  41  ShelvingUnit    -1.723         0.007          -2.053         0              90             0
  42  Drawer          -1.713         0.339          -2.053         0              90             0
  43  Drawer          -1.629         0.104          0.243          0              90             0
  44  Dresser         -1.674         0.000          -0.153         0              90             0
  45  Drawer          -1.630         0.868          -0.550         0              90             0
  46  Drawer          -1.630         0.680          0.243          0              90             0
  47  Drawer          -1.629         0.104          -0.550         0              90             0
  48  Drawer          -1.630         0.680          -0.550         0              90             0
  49  Drawer          -1.630         0.868          0.243          0              90             0
  50  Drawer          -1.629         0.486          -0.550         0              90             0
  51  Drawer          -1.629         0.291          0.243          0              90             0
  52  Drawer          -1.629         0.291          -0.550         0              90             0
  53  Drawer          -1.630         0.486          0.243          0              90             0
  54  SideTable       1.576          -0.001         2.137          0              180            0
  55  Drawer          1.576          0.163          2.070          0              180            0
  56  Drawer          1.576          0.455          2.070          0              180            0
  57  SideTable       2.437          -0.001         -1.603         0              0              0
  58  Drawer          2.438          0.163          -1.536         0              0              0
  59  Drawer          2.438          0.455          -1.536         0              0              0
  60  ArmChair        2.393          -0.001         1.943          0              180            0
  61  NorthWall
  62  EastWall
  63  SouthWall
  64  WestWall

Plan:
STEP 1: Walk around the bed and go to the dresser closest to the window. | STEP 2: Pick up the urn on the shelf. | STEP 3: Turn around and walk to the small table by the chair. | STEP 4: Put the urn down next to the lamp. | STEP 5: Turn around and go back to the dresser by the window. | STEP 6: Pick up the yellow vase. | STEP 7: Turn around and return to the table by the chair. | STEP 8: Put the vase down next to the urn. | END