Task: Place an empty box on the desk.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           1.0            0.900          0.0            0              0              0
   1  CellPhone       2.333          0.844          -0.615         0              0              0              32
   2  CellPhone       2.190          0.844          -0.877         0              0              0              32
   3  Pen             -0.603         0.930          -1.032         0              0              0              37
   4  Pen             -0.320         0.930          -1.032         0              0              0              37
   5  CreditCard      -0.194         0.667          -0.099         0              0              0              38
   6  CreditCard      -0.225         0.925          -0.818         0              0              0              37
   7  KeyChain        -0.509         0.925          -1.245         0              0              0              37
   8  AlarmClock      -0.603         0.925          -1.459         0              0              0              37
   9  Laptop          -0.309         0.548          1.263          0              0              0              22
  10  Box             2.15           0.14           0.494          0              12.243         0
  11  Book            0.333          0.551          2.433          0              0              0              22
  12  BasketBall      -0.235         0.120          0.166          0              0              0
  13  Pen             2.143          0.848          -0.090         0              0              0              32
  14  Pillow          -0.025         0.561          2.458          0              0              0              22
  15  Pencil          -0.349         0.092          -0.285         0              0              0              36
  16  CellPhone       0.333          0.552          0.678          0              0              0              22
  17  KeyChain        2.120          0.459          -0.484         0              90             0              30
  18  CreditCard      -0.320         0.924          -0.177         0              0              0              37
  19  AlarmClock      -0.414         0.925          -1.245         0              0              0              37
  20  CD              -0.247         0.667          -0.376         0              0              0              38
  21  Laptop          0.333          0.548          1.848          0              0              0              22
  22  Bed             0.009          -0.004         1.577          0              0              0
  23  DeskLamp        -0.669         0.923          -0.062         0              90             0
  24  Painting        -0.787         1.809          -0.215         90             270            0
  25  Painting        -0.787         1.809          1.023          90             270            0
  26  Mirror          2.118          1.277          2.749          0              0              0
  27  LightSwitch     0.726          1.200          2.75           0              180            0
  28  GarbageCan      2.257          -0.008         2.603          353.970        0              0
  29  Window          0.665          1.356          -1.911         90             0              0
  30  Drawer          2.119          0.576          -0.491         4.458          270            0
  31  Drawer          2.147          0.213          -0.491         4.458          270            0
  32  SideTable       2.226          0.013          -0.492         4.458          270            0
  33  Chair           0.170          0.011          -1.214         0              261.719        0
  34  Blinds          0.695          1.983          -1.867         0              0              0
  35  Drawer          -0.079         0.513          -0.394         0              90             0
  36  Drawer          -0.079         0.226          -0.394         0              90             0
  37  Desk            -0.391         0.001          -0.811         0              90             0
  38  Drawer          -0.079         0.762          -0.394         0              90             0
  39  NorthWall
  40  EastWall
  41  SouthWall
  42  WestWall

Plan:
STEP 1: Look down, walk straight, turn right to face the box on the floor, walk straight to it and look down at the box. | STEP 2: Pick up the box on the floor. | STEP 3: Look up, turn right, walk straight to the window, turn right when you reach the window, walk straight to the desk and look down at the desk. | STEP 4: Place the empty box on the desk. | END