Task: Move an empty box to the green sofa

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -3.5           0.909          1.5            0              180            0
   1  TissueBox       -0.357         1.307          3.444          0              0              0              39
   2  TissueBox       -2.664         0.475          1.036          0              0              0              49
   3  Candle          -0.133         1.308          3.775          0              0              0              39
   4  Candle          0.239          0.869          2.292          0              0              0              35
   5  KeyChain        -3.114         0.478          1.349          0              0              0              49
   6  CreditCard      -0.099         0.842          0.613          0              0              0              33
   7  CreditCard      -0.291         0.098          0.445          0              0              0              32
   8  RemoteControl   0.080          0.682          1.847          0              0              0              36
   9  RemoteControl   0.199          0.682          2.440          0              0              0              36
  10  Laptop          -3.298         0.541          3.808          0              0              0              42
  11  Box             -2.264         0.667          1.251          0              0              0              49
  12  TissueBox       -0.267         0.843          0.807          0              0              0              33
  13  KeyChain        -0.322         0.842          0.419          0              0              0              33
  14  Boots           -0.443         0.009          -0.549         0              339.553        0
  15  Candle          0.318          0.683          1.847          0              0              0              36
  16  RemoteControl   -2.664         0.478          1.286          0              0              0              49
  17  CreditCard      0.279          0.681          1.996          0              0              0              36
  18  Laptop          -2.011         0.447          -0.086         0              332.629        0              47
  19  Pillow          -3.707         0.635          3.745          0              0              0              42
  20  Statue          -0.300         1.294          3.926          0              0              0              39
  21  GarbageCan      -5.166         -0.026         -0.382         0              0              0
  22  Television      0.145          1.528          1.996          0              270            0
  23  LightSwitch     -6.0           1.381          2.882          0              90             0
  24  Painting        -0.048         1.912          3.687          90             270            0
  25  Painting        -5.353         1.990          -0.694         90             180            0
  26  HousePlant      -0.289         0.840          0.301          0              0              0
  27  FloorLamp       -4.100         0.013          -0.468         0              0              0
  28  Window          -4.131         1.557          -0.827         90             180            0
  29  Window          -0.972         1.557          -0.827         90             180            0
  30  Window          -2.553         1.557          -0.827         90             180            0
  31  Drawer          -0.359         0.583          0.516          0              270            0
  32  Drawer          -0.359         0.220          0.516          0              270            0
  33  SideTable       -0.276         0.015          0.516          0              270            0
  34  TVStand         0.172          0.591          1.982          0              270            0
  35  DiningTable     0.172          0.859          1.982          0              270            0
  36  DiningTable     0.172          0.673          1.982          0              270            0
  37  Drawer          -0.309         1.052          3.610          0              270            0
  38  Drawer          -0.309         0.761          3.610          0              270            0
  39  Dresser         -0.265         0.007          3.609          0              270            0
  40  Drawer          -0.309         0.471          3.610          0              270            0
  41  Drawer          -0.309         0.181          3.610          0              270            0
  42  Sofa            -3.786         0.015          3.893          0              180            0
  43  RoomDecor       -5.815         0.010          4.406          0              0              0
  44  RoomDecor       -0.333         0.010          4.396          0              0              0
  45  RoomDecor       -0.178         0.010          -0.448         0              0              0
  46  RoomDecor       -5.805         0.010          -0.486         0              0              0
  47  Sofa            -2.683         0.011          -0.124         0              0              0
  48  ArmChair        -2.062         0.014          4.216          0              180            0
  49  CoffeeTable     -2.646         0.007          1.150          0              0              0
  50  Chair           -1.347         0.009          4.243          0              180            0
  51  NorthWall
  52  EastWall
  53  SouthWall
  54  WestWall

Plan:
STEP 1: Move to the coffee table facing the empty box on top of the table | STEP 2: Pick up the empty box on the left side of the table  | STEP 3: Carry the empty box to the green sofa | STEP 4: Place the empty box on top of the sofa on the right side | END