Task: Move the empty box from the couch to the armchair.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -4.0           0.906          0.5            0              0              0
   1  Watch           -4.566         0.512          3.476          0              0              0              31
   2  Newspaper       -0.178         0.763          2.828          0              270            0              40
   3  CreditCard      -1.063         0.357          0.853          0              0              0              34
   4  CreditCard      -0.478         0.765          2.828          0              270            0              40
   5  RemoteControl   -1.969         0.199          2.528          0              0              0              33
   6  RemoteControl   -0.464         0.577          3.046          0              270            0              36
   7  Box             -4.661         0.521          1.406          0              270            0              42
   8  CreditCard      -1.878         0.396          4.649          0              0              0              43
   9  TissueBox       -0.499         0.184          2.260          0              270            0              39
  10  Laptop          -0.335         0.758          2.38           0              33.790         0              40
  11  Vase            -2.880         1.518          0.144          0              0              0
  12  RemoteControl   -1.740         0.196          2.757          0              0              0              33
  13  Pillow          -4.424         0.484          2.640          0              270            0              42
  14  KeyChain        -4.545         0.424          3.281          0              90             0              30
  15  Watch           -0.102         0.762          2.678          0              270            0              40
  16  Newspaper       -4.345         0.421          2.146          0              270            0              42
  17  Statue          -0.439         0.173          2.652          0              270            0              38
  18  Statue          -0.403         0.775          2.978          0              270            0              40
  19  Curtains        -1.030         2.113          0.0            0              0              0
  20  Curtains        -3.927         2.113          0.0            0              0              0
  21  HousePlant      -3.127         1.507          0.118          0              0              0
  22  Television      0.0            1.376          2.661          0              270            0
  23  GarbageCan      -0.227         0.005          4.778          0              0              0
  24  DeskLamp        -4.658         0.508          3.318          0              270            0
  25  Painting        -2.507         1.817          0.108          90             0              0
  26  FloorLamp       -4.596         0.006          0.399          0              65.211         0
  27  LightSwitch     -3.233         1.343          5.0            0              180            0
  28  Window          -1.011         1.391          0.029          90             180            0
  29  Window          -3.900         1.391          0.029          90             180            0
  30  Drawer          -4.433         0.473          3.344          0              90             0
  31  SideTable       -4.612         0.009          3.346          0              90             0
  32  Chair           -4.572         0.005          3.862          0              113.899        0
  33  CoffeeTable     -1.972         0.002          2.615          0              270            0
  34  ArmChair        -0.875         0.005          0.566          0              0              0
  35  Shelf           -0.340         0.480          3.046          0              270            0
  36  Shelf           -0.340         0.649          3.046          0              270            0
  37  Shelf           -0.340         0.603          2.312          0              270            0
  38  Shelf           -0.340         0.448          2.678          0              270            0
  39  Shelf           -0.340         0.308          2.312          0              270            0
  40  TVStand         -0.335         0.005          2.679          0              270            0
  41  Shelf           -0.340         0.279          3.046          0              270            0
  42  Sofa            -4.566         0.009          1.880          0              90             0
  43  Sofa            -2.124         0.009          4.558          0              180            0
  44  NorthWall
  45  SouthWall
  46  SouthWall

Plan:
STEP 1: Walk forward and face the box on the black couch. | STEP 2: Pick up the empty box from the couch. | STEP 3: Turn around to walk towards the black armchair. | STEP 4: Put the empty box down on the armchair. | END