Task: Put a box with a cell phone in it on the couch.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -2.75          0.900          6.25           0              90             0
   1  Plate           -3.311         0.554          1.647          0              0              0              32
   2  Statue          -1.390         0.323          2.733          0              39.022         0              35
   3  Statue          -1.895         0.323          2.481          0              39.022         0              35
   4  KeyChain        -1.450         0.310          2.286          0              219.022        0              35
   5  KeyChain        -2.396         0.524          2.913          0              308.001        0              44
   6  CellPhone       -1.804         0.316          2.407          0              39.022         0              35
   7  CreditCard      -5.516         0.786          4.689          0              0              0              36
   8  RemoteControl   -5.392         0.788          4.689          0              0              0              36
   9  Box             -1.541         0.504          2.360          0              39.022         0              35
  10  Box             -5.762         0.977          5.575          0              90             0              36
  11  CellPhone       0.541          0.554          6.818          0              0              0              33
  12  WateringCan     0.829          -0.001         2.339          0              45             0              Floor|-03.10|
  13  Newspaper       -5.885         0.781          4.689          0              0              0              36
  14  KeyChain        0.718          0.099          3.930          0              0              0              47
  15  Plate           -5.807         0.781          4.222          0              0              0              36
  16  Pillow          -2.719         0.609          2.768          0              320.647        0              44
  17  RemoteControl   -5.762         0.788          4.910          0              0              0              36
  18  CreditCard      -5.885         0.786          5.132          0              0              0              36
  19  Laptop          -5.464         0.779          5.252          0              306.871        0              36
  20  Statue          -5.516         0.792          4.467          0              0              0              36
  21  Curtains        -1.046         3.500          2.880          0              0              0
  22  HousePlant      -3.580         0.548          1.659          0              0              0
  23  Television      0.852          1.460          3.726          357.954        270            0
  24  Painting        -3.813         1.809          1.008          90             90             0
  25  DeskLamp        0.890          0.545          6.822          0              0              0
  26  GarbageCan      -7.102         -0.044         2.295          0              90             0
  27  FloorLamp       -3.494         0.006          0.390          0              0              0
  28  LightSwitch     -5.234         1.391          7.031          0              180            0
  29  Window          -1.985         1.646          -0.009         90             180            0
  30  Window          -4.909         0.990          2.015          90             180            0
  31  Window          -5.796         1.072          1.871          90             180            0
  32  SideTable       -3.407         0.005          1.656          0              270            0
  33  SideTable       0.732          0.005          6.634          0              270            0
  34  Chair           -0.139         0.005          6.412          0              149.999        0
  35  CoffeeTable     -1.546         0.004          2.528          0              39.022         0
  36  DiningTable     -5.639         -0.003         4.910          0              270            0
  37  Chair           -3.159         0.005          0.869          0              97.469         0
  38  Chair           -5.192         0.002          4.682          0              281.219        0
  39  Chair           -5.181         0.002          5.293          0              266.218        0
  40  Chair           -6.046         0.002          4.560          0              86.218         0
  41  Chair           -5.624         0.002          5.750          0              180            0
  42  Chair           -6.036         0.002          5.235          0              93.544         0
  43  Chair           -5.580         0.002          4.099          0              357.508        0
  44  Sofa            -2.465         0.004          3.281          0              128.001        0
  45  Drawer          0.748          0.237          3.330          0              270            0
  46  Drawer          0.748          0.668          3.330          0              270            0
  47  Drawer          0.748          0.235          4.097          0              270            0
  48  Dresser         0.846          0.002          3.713          0              270            0
  49  Drawer          0.748          0.665          4.097          0              270            0
  50  NorthWall
  51  EastWall
  52  SouthWall
  53  WestWall

Plan:
STEP 1: Turn right and go straight, around to the left side of the coffee table. | STEP 2: Pick up the cell phone on the coffee table. | STEP 3: Place the cell phone in the box on the coffee table. | STEP 4: Pick up the box on the coffee table, with the cell phone in it. | STEP 5: Turn around left, go toward the fire place, then go left to go to the right end of the couch. | STEP 6: Place the box on the couch, on the rightmost cushion.  | END