Task: Place a cardboard box with a pencil in it onto 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           3.0            0.900          0.5            0              270            0
   1  TissueBox       -0.401         0.841          -0.721         0              0              0              38
   2  TissueBox       -0.290         0.459          -0.653         0              0              0              40
   3  Pencil          1.183          0.480          0.676          0              180            0              34
   4  Pencil          -0.624         0.843          -0.672         0              0              0              38
   5  Pencil          3.805          0.070          -0.462         0              0              0              26
   6  Pen             1.891          0.479          0.267          0              180            0              34
   7  Pen             1.466          0.479          0.676          0              180            0              34
   8  KeyChain        4.007          0.877          0.865          0              0              0              43
   9  CreditCard      4.007          0.877          0.655          0              0              0              43
  10  Box             1.586          0.582          1.819          0              0              0              42
  11  Newspaper       1.792          0.334          1.600          0              0              0              42
  12  Laptop          2.656          0.320          1.727          0              180            0              33
  13  WateringCan     1.621          0.056          -0.697         0              0              0              39
  14  TissueBox       -0.067         0.841          -0.721         0              0              0              38
  15  KeyChain        3.827          0.766          1.055          0              90             0              44
  16  Pen             -0.185         0.074          -0.691         0              180            0              37
  17  Boots           4.005          0.001          1.707          1.563          246.167        0
  18  Pencil          3.888          0.879          0.971          0              0              0              43
  19  RemoteControl   -0.067         0.841          -0.818         0              0              0              38
  20  CreditCard      -0.080         0.457          -0.729         0              0              0              40
  21  Pillow          0.651          0.395          1.708          0              0              0              24
  22  Statue          -0.532         0.443          -0.738         0              92.244         0              40
  23  Statue          -0.081         0.057          -0.692         0              0              0              37
  24  Sofa            1.174          0.0            1.865          0              0              0
  25  FloorLamp       3.608          0.000          2.163          0              0              0
  26  GarbageCan      3.833          -0.029         -0.495         0              0              0
  27  Television      1.897          1.281          -0.838         0              0              0
  28  Painting        4.070          1.950          0.848          90             270            0
  29  HousePlant      0.387          0.801          -0.725         0              90             0
  30  Window          0.023          2.072          2.484          90             180            0
  31  Window          1.570          2.072          2.484          90             180            0
  32  LightSwitch     -1.399         1.289          1.835          0              90             0
  33  ArmChair        2.655          0.000          1.858          0              180            0
  34  CoffeeTable     1.591          -0.000         0.446          0              180            0
  35  Shelf           1.905          0.588          -0.730         0              0              0
  36  TVStand         1.904          -0.000         -0.770         0              0              0
  37  Shelf           -0.289         0.200          -0.732         0              0              0
  38  TVStand         -0.290         -0.000         -0.772         0              0              0
  39  Shelf           1.905          0.200          -0.730         0              0              0
  40  Shelf           -0.289         0.588          -0.732         0              0              0
  41  ArmChair        -0.270         0.000          1.870          0              181.372        0
  42  Sofa            1.193          0.008          1.865          0              180            0
  43  SideTable       3.946          0.000          0.865          0              270            0
  44  Drawer          3.882          0.774          0.864          0              270            0
  45  NorthWall
  46  EastWall
  47  SouthWall
  48  WestWall

Plan:
STEP 1: Turn right and begin walking forward, then turn left and walk over to the pencil on the coffee table. | STEP 2: Pick up the pencil off of the coffee table. | STEP 3: Turn left, take a step forward then turn left again to face the cardboard box on the couch. | STEP 4: Place the pencil inside the cardboard box. | STEP 5: Pick up the cardboard box with the pencil inside it up off of the couch. | STEP 6: Turn left, begin walking to the door, then hang a left and continue forwards towards the fireplace, stop and turn left when at the end of the coffee table. | STEP 7: Place the cardboard box with the pencil in it onto the coffee table. | END