Task: Put blue lid in box and placed on kitchen table

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -3.5           0.927          4.25           0              180            0
   1  Pillow          -2.925         0.332          3.521          0              0              0              69
   2  Box             -2.362         0.657          0.306          0              300.000        0              43
   3  Statue          -6.589         1.022          5.172          0              180            0              29
   4  KeyChain        -6.185         0.643          2.212          0              0              0              68
   5  Vase            -1.701         0.930          0.179          0              0              0              23
   6  Vase            -0.764         0.940          0.203          0              0              0              40
   7  Vase            -5.544         0.741          5.168          0              0              0              25
   8  Newspaper       -5.939         0.641          3.266          0              0              0              68
   9  CreditCard      -3.006         0.300          2.071          0              0              0              72
  10  RemoteControl   -2.809         0.301          1.661          0              270            0              72
  11  Laptop          -2.666         0.298          2.112          0              270            0              72
  12  Pillow          -1.515         0.438          3.319          0              300.000        90             71
  13  Vase            -5.713         0.386          5.136          0              0              0              31
  14  Statue          -0.941         1.284          0.149          0              0              0              47
  15  Vase            -1.352         1.258          0.228          0              0              0              47
  16  Plate           -5.572         0.634          1.699          0              0              0              68
  17  Vase            -4.958         0.940          5.201          0              0              0              37
  18  Statue          -5.033         1.566          5.212          0              180            0              50
  19  Statue          -0.812         1.565          0.209          0              0              0              42
  20  Statue          -3.851         0.930          5.169          0              0              0              28
  21  Statue          -3.174         1.105          5.193          0              0              0              51
  22  Statue          -5.865         0.634          2.786          0              65.579         0              68
  23  Shelf           -1.776         0.988          0.184          0              180            0
  24  Chair           -5.413         0.024          1.780          0              0              0
  25  Cabinet         -5.365         1.170          5.031          0              0              0
  26  Chair           -5.388         0.024          3.369          0              355.695        0
  27  Chair           -6.211         0.024          2.517          0              172.601        0
  28  Shelf           -3.937         0.988          5.170          0              0              0
  29  Shelf           -6.572         1.144          5.170          0              0              0
  30  Cabinet         -4.181         1.873          5.029          0              0              0
  31  Shelf           -5.606         0.444          5.170          0              0              0
  32  Drawer          -6.324         0.823          5.001          0              0              0
  33  Cabinet         -2.017         1.714          0.323          0              180            0
  34  Cabinet         -2.465         1.329          5.029          0              0              0
  35  Drawer          -1.093         0.233          0.462          0              0              0
  36  Shelf           -4.672         1.317          5.170          0              0              0
  37  Shelf           -4.672         0.998          5.170          0              0              0
  38  Shelf           -2.221         0.444          5.170          0              0              0
  39  Drawer          -6.324         0.508          5.001          0              0              0
  40  Shelf           -1.041         0.998          0.184          0              180            0
  41  Drawer          -4.264         0.233          0.462          0              0              0
  42  Shelf           -0.810         1.688          0.185          0              180            0
  43  Shelf           -2.671         0.610          0.272          0              90             0
  44  Drawer          -2.681         0.233          0.462          0              0              0
  45  Drawer          -2.940         0.508          5.001          0              0              0
  46  Cabinet         -3.696         1.714          5.031          0              0              0
  47  Shelf           -1.041         1.317          0.184          0              180            0
  48  Cabinet         -1.532         1.873          0.325          0              180            0
  49  Chair           -5.382         0.024          2.695          0              6.230          0
  50  Shelf           -4.903         1.688          5.170          0              0              0
  51  Shelf           -3.187         1.144          5.170          0              0              0
  52  Drawer          -2.940         0.823          5.001          0              0              0
  53  Chair           -6.252         0.024          3.427          0              195.000        0
  54  Cabinet         -5.850         1.329          5.029          0              0              0
  55  Cabinet         -1.980         1.170          5.031          0              0              0
  56  Chair           -6.296         0.024          1.672          0              180            0
  57  FloorLamp       -0.369         0.016          4.992          0              59.992         0
  58  GarbageCan      -6.846         0.024          0.258          0              91.057         0
  59  Television      -3.503         1.506          0.001          0              0              0
  60  LightSwitch     0.0            1.184          4.410          0              270            0
  61  HousePlant      -1.105         0.315          2.740          0              0              0
  62  Painting        -5.769         1.394          -0.026         90             180            0
  63  Window          0.001          1.246          2.471          90             270            0
  64  Window          0.001          1.246          3.558          90             270            0
  65  Window          0.001          1.246          1.368          90             270            0
  66  Painting        -0.967         1.396          5.268          90             180            0
  67  CoffeeTable     -3.002         0.028          1.726          0              0              0
  68  DiningTable     -5.816         0.025          2.563          0              270            0
  69  Sofa            -3.328         0.023          3.632          0              180            0
  70  ArmChair        -1.012         0.028          2.084          0              270            0
  71  ArmChair        -1.577         0.028          3.295          0              210.000        0
  72  CoffeeTable     -2.667         0.025          1.999          0              5.810          0
  73  NorthWall
  74  EastWall
  75  SouthWall
  76  WestWall

Plan:
STEP 1: Turn to the right and walk to the end of the sofa,  Turn left at the end and walk around the sofa and turn left at the end.  Walk toward the coffee table and around the far side.  Turn right at the end and walk toward the wall. | STEP 2: Pick up blue lid on shelf. | STEP 3: Turn right and walk to the box on the ledge. | STEP 4: Put blue lid in the box. | STEP 5: Pick up the box. | STEP 6: Turn right and walk to the table.  At the table turn right and walk to the end of the table.  At the end of the table, turn left and face the table.   | STEP 7: Put the box on the table. | END