Task: Move two boxes to the coffee table.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.75          0.908          5.25           0              270            0
   1  Plate           -3.432         0.797          1.751          0              0              0              58
   2  TissueBox       -2.324         0.783          1.906          0              0              0              58
   3  TissueBox       -2.047         0.783          2.526          0              0              0              58
   4  Newspaper       -2.601         0.781          2.526          0              0              0              58
   5  Newspaper       -3.026         0.456          5.930          0              0              0              55
   6  Statue          -2.878         0.792          2.681          0              0              0              58
   7  KeyChain        -3.663         0.329          4.718          0              0              0              56
   8  KeyChain        -3.538         0.327          4.718          0              0              0              56
   9  CreditCard      -2.970         0.533          8.596          0              180            0              64
  10  CreditCard      -3.608         0.533          8.471          0              180            0              64
  11  Box             -1.775         0.583          6.739          0              0              0              51
  12  Box             -2.324         0.910          2.371          0              0              0              58
  13  Laptop          -1.775         0.453          5.549          0              0              0              51
  14  Box             -1.623         0.583          6.144          0              90             0              51
  15  KeyChain        -2.691         0.329          4.774          0              0              0              57
  16  Plate           -3.432         0.798          2.371          0              0              0              58
  17  Candle          -2.047         0.782          2.371          0              0              0              58
  18  Pillow          -1.852         0.516          7.334          0              0              0              51
  19  Candle          -3.449         0.534          8.471          0              180            0              64
  20  TissueBox       -3.709         0.783          2.526          0              0              0              58
  21  Laptop          -3.216         0.450          6.333          0              0              0              55
  22  Newspaper       -2.047         0.781          2.216          0              0              0              58
  23  CreditCard      -1.852         0.454          7.036          0              0              0              51
  24  RemoteControl   -3.663         0.333          4.514          0              0              0              56
  25  Boots           -5.786         0.007          4.817          0              167.028        0              Floor|-02.99|
  26  Candle          -2.942         0.536          8.321          0              90             0              64
  27  Statue          -2.047         0.883          1.906          0              0              0              58
  28  Watch           -0.246         0.676          0.227          0              329.437        0              53
  29  Statue          -3.427         0.466          6.764          0              0              0              55
  30  Mirror          -5.489         1.825          6.505          0              0              0
  31  FloorLamp       -5.645         0.013          8.526          0              0              0
  32  HousePlant      -3.203         0.452          6.798          0              0              0
  33  HousePlant      -5.358         1.476          5.442          0              343.031        0
  34  GarbageCan      -5.711         0.005          0.300          0              34.872         0
  35  Television      -3.114         0.996          8.693          1.686          180            0
  36  LightSwitch     -6.0           1.338          3.433          0              90             0
  37  Painting        -5.954         1.526          1.153          90             270            0
  38  Window          0.157          1.203          6.895          90             90             0
  39  Window          -4.855         1.203          -0.158         90             180            0
  40  Window          0.157          1.203          4.923          90             90             0
  41  Window          0.157          1.203          2.986          90             90             0
  42  Window          0.157          1.203          1.088          90             90             0
  43  Window          -2.942         1.203          -0.158         90             180            0
  44  Window          -1.057         1.203          -0.158         90             180            0
  45  DeskLamp        -0.432         0.684          8.644          0              0              0
  46  DeskLamp        -0.346         0.684          0.335          0              0              0
  47  Chair           -3.326         0.015          2.739          358.826        189.525        358.738
  48  Chair           -2.352         0.015          2.744          358.824        163.801        358.735
  49  Chair           -2.476         0.015          1.628          358.826        21.693         358.736
  50  Chair           -3.327         0.015          1.701          358.828        0              358.738
  51  Sofa            -1.706         0.002          6.448          0              270            0
  52  Chair           -0.328         0.016          0.998          0              246.550        0
  53  SideTable       -0.396         0.008          0.357          0              329.435        0
  54  SideTable       -0.527         0.008          8.521          0              329.431        0
  55  CoffeeTable     -3.236         0.010          6.598          0              270            0
  56  ArmChair        -3.663         0.012          4.562          0              0              0
  57  ArmChair        -2.691         0.012          4.618          0              0              0
  58  DiningTable     -2.903         0.010          2.225          0              0              0
  59  RoomDecor       -0.189         0.009          3.909          0              0              0
  60  RoomDecor       -0.189         0.009          2.097          0              0              0
  61  RoomDecor       -0.190         0.009          5.855          0              0              0
  62  RoomDecor       -3.957         0.009          0.254          0              0              0
  63  RoomDecor       -2.036         0.009          0.254          0              0              0
  64  CoffeeTable     -3.129         0.016          8.533          0              0              0
  65  NorthWall
  66  EastWall
  67  SouthWall
  68  WestWall

Plan:
STEP 1: Turn right to walk behind the sofa, and when you get to the wall turn left and move around the sofa so you stop facing the center cushion of it. | STEP 2: Pick up the open box from the center cushion of the sofa. | STEP 3: Turn left and move around the coffee table so you stop facing the table with the sofa on the other side. | STEP 4: Place the box on the right corner of the table that's closest to you. | STEP 5: Move around the coffee table and then all the way around to the back of the sofa. | STEP 6: Pick up the remaining box from the sofa. | STEP 7: Turn right and carry the box back around the sofa and coffee table so you're on the same side where you left the previous box. | STEP 8: Place the new box on the front left corner of the table. | END