Task: Place a box with a cell phone 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           0.25           0.902          4.5            0              0              0
   1  KeyChain        -2.485         0.319          2.617          0              0              0              65
   2  RemoteControl   -1.965         0.454          4.602          0              0              0              68
   3  RemoteControl   0.460          0.122          1.258          0              0              0              32
   4  Box             -1.093         1.031          1.398          0              0              0              34
   5  Laptop          -1.556         0.653          -2.329         0              0              0              55
   6  Laptop          -0.108         0.739          1.398          0              0              0              34
   7  Box             -3.585         0.684          3.881          0              180            0              58
   8  Vase            -1.825         0.462          4.464          0              0              0              68
   9  CellPhone       -0.847         0.744          1.300          0              0              0              34
  10  WateringCan     -3.580         0.003          5.507          2.684          0              0              Floor|-04.41|
  11  KeyChain        -1.663         0.390          5.736          0              180            0              57
  12  Vase            -4.242         0.789          1.181          0              0              0              27
  13  Vase            -4.228         0.789          0.756          0              0              0              27
  14  Laptop          -3.585         0.392          4.682          0              90             0              58
  15  Pillow          -3.587         0.643          5.016          317.310        0              0              58
  16  RemoteControl   -1.329         0.656          -2.074         0              0              0              55
  17  CreditCard      -0.094         0.692          5.356          0              315            0              49
  18  Vase            -4.225         0.789          0.382          0              0              0              27
  19  Statue          -2.465         0.656          -2.074         0              0              0              55
  20  Statue          -0.355         0.752          1.105          0              0              0              34
  21  Statue          -2.106         0.554          4.464          0              0              0              68
  22  Shelf           -4.253         2.157          0.771          0              0              0
  23  Painting        -3.368         1.741          -0.298         0              0              0
  24  Shelf           -4.253         1.306          0.771          0              0              0
  25  Painting        -1.756         1.424          -3.595         0              0              0
  26  Shelf           -4.253         1.690          0.771          0              0              0
  27  Shelf           -4.261         0.833          0.771          0              0              0
  28  Drawer          0.411          0.581          1.221          0              180            0
  29  Drawer          -0.000         0.170          1.221          0              180            0
  30  Drawer          -0.000         0.581          1.221          0              180            0
  31  Drawer          0.411          0.375          1.221          0              180            0
  32  Drawer          0.411          0.170          1.221          0              180            0
  33  Drawer          -0.000         0.375          1.221          0              180            0
  34  Desk            -0.352         0.003          1.371          0              180            0
  35  FloorLamp       0.391          -0.001         5.157          0              0              0
  36  Window          -2.828         0.470          -0.157         90             199.328        0
  37  Window          -4.410         1.702          1.787          90             270            0
  38  Window          -3.638         1.702          6.735          90             0              0
  39  Window          -4.410         1.702          2.790          90             270            0
  40  Window          -2.827         1.702          -0.157         90             199.328        0
  41  Window          -0.131         1.702          6.735          90             0              0
  42  Window          -1.013         1.702          -0.154         90             159.633        0
  43  Window          -4.410         1.702          5.980          90             270            0
  44  Television      -0.153         1.176          5.790          0              225            0
  45  GarbageCan      0.357          0.003          2.159          0              90             0
  46  DeskLamp        0.277          0.735          1.381          0              0              0
  47  HousePlant      -1.819         0.641          -2.011         0              315            0
  48  LightSwitch     -2.740         1.495          -0.405         0              180            0
  49  TVStand         -0.118         0.001          5.874          0              45             0
  50  Chair           -1.353         0.002          -2.872         0              349.207        0
  51  Chair           -2.220         0.002          -1.298         0              168.118        0
  52  Chair           -1.515         0.007          -1.331         358.639        187.454        0
  53  Chair           -2.189         0.002          -2.835         0              2.328          0
  54  Safe            0.174          0.001          -0.071         0              323.940        0
  55  DiningTable     -1.783         0.003          -2.039         0              0              0
  56  Chair           -0.636         0.010          0.993          0              358.396        0
  57  Sofa            -2.161         0.006          6.115          0              180            0
  58  Sofa            -3.782         0.006          4.153          0              90             0
  59  Shelf           -1.095         0.607          1.321          0              180            0
  60  Shelf           -1.267         0.607          1.321          0              180            0
  61  Shelf           -1.267         0.401          1.321          0              180            0
  62  Shelf           -1.095         0.196          1.320          0              180            0
  63  Shelf           -1.095         0.401          1.321          0              180            0
  64  Shelf           -1.267         0.196          1.320          0              180            0
  65  ArmChair        -2.628         0.009          2.421          0              0              0
  66  Chair           -0.485         0.010          4.452          0              270            0
  67  Chair           -0.431         0.010          3.595          0              270            0
  68  CoffeeTable     -1.965         0.000          4.187          0              0              0
  69  NorthWall
  70  EastWall
  71  SouthWall
  72  WestWall

Plan:
STEP 1: Turn around, hang a left at the gray bin on the floor and walk to the black desk on the left. | STEP 2: Pick up the cell phone to the left of the box on the right side of the desk. | STEP 3: Turn around, hang a left at the glass table, take a right at the couch and turn left to face the couch. | STEP 4: Pick the cell phone inside the box on the middle of the couch. | STEP 5: Pick up the box with the cell phone inside from the couch. | STEP 6: Turn around and hang a right to the gray chair. | STEP 7: Put the box with the cell phone inside on the gray chair. | END