Task: place a box on a chair

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -4.0           0.901          4.0            0              180            0
   1  Statue          -4.569         1.086          2.026          0              0              0              34
   2  Watch           -4.656         0.988          3.447          0              0              0              34
   3  RemoteControl   -2.658         0.455          2.744          0              0              0              37
   4  CreditCard      -4.832         0.988          2.310          0              0              0              34
   5  CreditCard      -0.129         0.707          4.619          0              0              0              42
   6  Pillow          -2.465         0.602          0.843          0              0              0              40
   7  Box             -2.180         0.670          2.428          0              350.086        0              37
   8  WateringCan     -0.277         -0.000         4.860          0              0              0              Floor|+00.38|
   9  CreditCard      -4.567         0.887          3.419          0              0              0              32
  10  KeyChain        -4.569         0.989          3.447          0              90             0              34
  11  Pillow          -3.294         0.624          0.801          0              0              338.090        40
  12  Laptop          -4.873         0.981          3.44           0              83.878         0              34
  13  RemoteControl   -4.919         0.990          2.595          0              0              0              34
  14  Watch           0.132          0.707          4.578          0              0              0              42
  15  Statue          -2.532         0.554          2.359          0              0              0              37
  16  Curtains        -2.535         2.596          0.111          0              0              0
  17  FloorLamp       -4.661         0.009          0.422          0              0              0
  18  Television      -4.883         1.472          2.434          0              90             0
  19  GarbageCan      -4.810         -0.032         1.236          0              180            0
  20  Painting        -0.293         1.820          0.016          90             0              0
  21  LightSwitch     -1.016         1.243          5.0            0              180            0
  22  Painting        -5.118         1.480          4.396          90             270            0
  23  Painting        -5.118         1.480          0.656          90             270            0
  24  Window          -1.715         1.554          0.006          90             180            0
  25  Window          -3.244         1.554          0.006          90             180            0
  26  DeskLamp        0.015          0.704          4.676          0              0              0
  27  HousePlant      -4.824         0.984          1.572          0              0              0
  28  Drawer          -4.497         0.901          2.854          0              90             0
  29  Drawer          -4.497         0.901          2.339          0              90             0
  30  Cabinet         -4.409         0.498          2.603          0              90             0
  31  Cabinet         -4.409         0.498          3.622          0              90             0
  32  Drawer          -4.497         0.901          3.372          0              90             0
  33  Cabinet         -4.409         0.498          1.569          0              90             0
  34  Dresser         -4.744         4.321          2.595          0              90             0
  35  Drawer          -4.497         0.901          1.818          0              90             0
  36  Cabinet         -4.409         0.498          2.588          0              90             0
  37  CoffeeTable     -2.405         -0.000         2.546          0              0              0
  38  ArmChair        -0.298         0.002          3.310          0              270            0
  39  ArmChair        -0.298         0.002          1.713          0              270            0
  40  Sofa            -2.464         -0.002         0.700          0              0              0
  41  Chair           -4.735         0.011          4.609          1.215          90             0
  42  SideTable       -0.041         0.002          4.619          0              0              0
  43  NorthWall
  44  EastWall
  45  SouthWall
  46  WestWall

Plan:
STEP 1: go forward to the end of the sofa and turn to the left and go forward to the end of the coffee table and turn to the left | STEP 2: pick up the box from the coffee table  | STEP 3: turn to the right and go forward to the chair | STEP 4: place the box on the chair | END