Task: To put a vase in a box on the table.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.75          0.902          4.5            0              0              0
   1  Plate           -1.825         0.689          1.052          0              0              0              54
   2  Newspaper       -2.396         0.097          5.042          0              0              0              48
   3  Newspaper       -2.396         0.347          4.887          0              0              0              46
   4  Vase            -1.825         0.693          1.299          0              0              0              54
   5  Pen             -1.974         0.753          -0.072         0              0              0              52
   6  Pen             -2.259         0.243          6.192          0              0              0              47
   7  Pencil          -2.259         0.241          6.010          0              0              0              47
   8  Pencil          -2.393         0.751          -0.028         0              0              0              52
   9  KeyChain        -1.079         0.433          6.038          0              225            0              43
  10  KeyChain        -0.811         0.433          5.650          0              135            0              43
  11  Book            -1.609         0.482          3.525          0              0              0              50
  12  CreditCard      -2.318         0.603          4.654          0              0              0              45
  13  RemoteControl   -0.284         0.708          3.285          0              0              0              40
  14  Book            -2.668         0.482          3.525          0              0              0              50
  15  Box             -1.874         0.678          3.525          0              90             0              50
  16  Statue          -2.473         0.609          4.731          0              90             0              45
  17  Laptop          -2.712         0.687          1.546          0              0              0              58
  18  TissueBox       -2.164         0.099          5.120          0              0              0              48
  19  CreditCard      -0.768         0.438          6.087          0              135            0              43
  20  Plate           -2.934         0.689          1.052          0              0              0              44
  21  KeyChain        -2.164         0.096          4.809          0              0              0              48
  22  Vase            -2.164         0.349          4.887          0              0              0              46
  23  Pencil          -2.047         0.692          1.052          0              0              0              54
  24  Pillow          -3.271         0.661          3.44           0              0              331.220        50
  25  Bowl            -1.603         0.688          1.423          0              0              0              59
  26  RemoteControl   -2.396         0.098          4.809          0              0              0              48
  27  Watch           -2.008         0.238          6.010          0              0              0              47
  28  Pen             -1.603         0.694          1.052          0              0              0              44
  29  Newspaper       -2.532         0.749          -0.072         0              0              0              52
  30  Painting        -2.048         1.615          -0.303         0              0              0
  31  Curtains        -0.083         2.420          0.969          0              0              0
  32  Television      -2.357         1.205          6.245          0              180            0
  33  HousePlant      -2.933         0.595          -0.093         0              0              0
  34  GarbageCan      -4.864         -0.001         0.267          0              90             0
  35  FloorLamp       -0.566         0.002          0.024          0              316.932        0
  36  DeskLamp        -0.273         0.700          3.612          0              0              0
  37  Window          -0.057         0.925          1.764          90             270            0
  38  Window          -0.057         1.130          4.886          90             270            0
  39  LightSwitch     -3.305         1.340          -0.314         0              0              0
  40  SideTable       -0.255         0.001          3.369          0              270            0
  41  Drawer          -0.306         0.626          3.369          0              270            0
  42  ArmChair        -4.376         -8.374         6.016          0              152.639        0
  43  ArmChair        -0.847         -8.106         5.983          0              231.318        0
  44  DiningTable     -2.268         -0.016         1.422          0              0              0
  45  CoffeeTable     -2.326         0.002          4.922          0              0              0
  46  Shelf           -2.326         0.338          4.922          0              0              0
  47  Shelf           -2.385         0.238          6.296          0              0              0
  48  Shelf           -2.326         0.089          4.922          0              0              0
  49  TVStand         -2.385         0.006          6.296          0              0              0
  50  Sofa            -2.404         -0.003         3.417          0              0              0
  51  SideTable       -2.935         0.004          -0.103         0              0              0
  52  SideTable       -2.113         0.002          -0.139         0              0              0
  53  Drawer          -2.113         0.654          -0.069         0              0              0
  54  Chair           -1.862         0.020          1.035          0              0              0
  55  Chair           -3.122         0.020          1.410          0              104.999        0
  56  Chair           -1.864         0.020          1.838          0              185.032        0
  57  Chair           -2.507         0.020          0.991          0              6.189          0
  58  Chair           -2.519         0.020          1.882          0              164.977        0
  59  Chair           -1.335         0.020          1.430          0              270            0
  60  NorthWall
  61  EastWall
  62  SouthWall
  63  WestWall

Plan:
STEP 1: Turn right, turn right at the sliding door, walk towards the lamp and turn right, turn right to face the right side of the table.  | STEP 2: Pick up the yellow vase that's behind the white plate.  | STEP 3: Turn right, turn left at the curtain, walk across the room and turn left after the couch, turn left to face the box on the couch.   | STEP 4: Put the vase in the box to the right of the book.  | STEP 5: Pick up the box from the couch.  | STEP 6: Turn left and walk behind the couch and face the laptop on the table | STEP 7: Put the box down on the table to the left of the laptop.  | END