Task: place two boxes down on top of the coffee table

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           14.25          0.902          -0.5           0              90             0
   1  Statue          14.135         0.761          0.780          0              0              0              37
   2  Watch           9.595          0.430          3.360          0              0              0              51
   3  Watch           9.789          0.430          3.216          0              0              0              44
   4  Book            14.252         0.348          2.073          0              0              0              39
   5  CreditCard      14.233         0.754          1.564          0              0              0              37
   6  RemoteControl   10.651         0.593          1.049          0              0              0              44
   7  RemoteControl   14.252         0.142          0.536          0              0              0              41
   8  Box             14.526         1.001          1.564          0              180            0              37
   9  Laptop          9.499          0.427          3.143          0              0              0              45
  10  Pillow          11.020         0.528          3.081          0              0              0              52
  11  Book            14.577         0.518          -0.839         0              0              0              47
  12  Box             11.448         0.706          3.230          0              0              0              Floor|+09.92|
  13  CreditCard      8.456          0.396          -0.263         0              90             0              55
  14  KeyChain        8.402          0.397          0.889          0              90             0              54
  15  Pillow          12.048         0.52           3.228          0              0              0              52
  16  Statue          10.457         0.597          1.235          0              0              0              44
  17  Laptop          14.24          0.747          2.067          0              300.000        0              37
  18  RemoteControl   11.232         0.593          0.771          0              0              0              44
  19  Watch           14.305         0.348          0.875          0              0              0              36
  20  FloorLamp       7.864          0.006          3.396          0              0              0
  21  GarbageCan      7.785          -0.027         -1.145         0              0              0
  22  Painting        7.492          1.835          -0.495         90             270            0
  23  Painting        7.492          1.835          2.792          90             270            0
  24  Television      14.459         1.218          0.925          358.945        270            0
  25  LightSwitch     12.979         1.399          3.767          0              180            0
  26  Painting        7.492          1.779          1.116          90             270            0
  27  Painting        14.763         1.753          1.126          90             270            0
  28  HousePlant      11.374         0.467          -1.143         0              0              0
  29  Window          12.029         1.687          -1.595         90             180            0
  30  Window          10.227         1.687          -1.594         90             180            0
  31  Drawer          14.183         0.374          0.556          0              270            0
  32  Drawer          14.183         0.580          1.069          0              270            0
  33  Drawer          14.183         0.580          2.095          0              270            0
  34  Drawer          14.183         0.374          1.582          0              270            0
  35  Drawer          14.183         0.169          1.069          0              270            0
  36  Drawer          14.183         0.374          1.069          0              270            0
  37  Dresser         14.330         0.002          1.323          0              270            0
  38  Drawer          14.183         0.169          2.095          0              270            0
  39  Drawer          14.183         0.374          2.095          0              270            0
  40  Drawer          14.183         0.580          0.556          0              270            0
  41  Drawer          14.183         0.169          0.556          0              270            0
  42  Drawer          14.183         0.169          1.582          0              270            0
  43  Drawer          14.183         0.580          1.582          0              270            0
  44  CoffeeTable     10.821         -0.011         0.928          0              0              0
  45  ArmChair        9.499          0.001          3.265          0              180            0
  46  SideTable       11.377         0.001          -1.160         0              90             0
  47  SideTable       14.615         -0.001         -0.776         0              270            0
  48  SideTable       14.331         0.003          0.069          0              0              0
  49  SideTable       14.331         0.003          2.585          0              0              0
  50  SideTable       12.308         0.001          -1.154         0              0              0
  51  Chair           8.154          0.006          1.499          0              90             0
  52  Sofa            11.450         0.002          3.211          0              180            0
  53  Shelf           10.794         0.231          0.928          0              0              0
  54  ArmChair        8.231          0.006          0.769          0              90             0
  55  ArmChair        8.224          0.006          -0.082         0              90             0
  56  NorthWall
  57  EastWall
  58  SouthWall
  59  WestWall

Plan:
STEP 1: turn around and walk to the coffee table in the middle of the rug, then turn right and walk over to the front of the red couch | STEP 2: pick the box up off of the couch | STEP 3: turn around to face the coffee table | STEP 4: place the box down on the coffee table | STEP 5: turn left and walk over to the cabinet at the end of the room | STEP 6: grab the box off of the top of the cabinet | STEP 7: turn around and walk back over to the coffee table | STEP 8: place the box down on top of the coffee table | END