Task: put box on living room chair

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           1.5            0.916          -1.75          0              0              0
   1  Statue          -0.204         0.912          1.460          0              0              0              67
   2  Newspaper       -0.145         0.418          0.989          0              0              0              68
   3  KeyChain        -0.204         0.906          1.217          0              0              0              67
   4  KeyChain        -0.295         0.906          2.431          0              90             0              67
   5  CellPhone       -0.204         0.906          0.974          0              0              0              67
   6  CellPhone       3.121          0.592          0.497          0              180            0              50
   7  CreditCard      3.124          0.084          1.401          0              180            0              47
   8  CreditCard      -0.113         0.909          1.703          0              0              0              67
   9  RemoteControl   -0.145         0.663          0.936          0              0              0              69
  10  RemoteControl   -0.295         0.910          2.188          0              0              0              67
  11  RemoteControl   -0.295         0.910          1.217          0              0              0              67
  12  Box             3.160          0.782          0.232          0              180            0              50
  13  Box             -2.885         0.754          1.187          0              270            0              62
  14  Laptop          -2.885         0.561          1.806          0              270            0              62
  15  Book            0.116          0.902          1.073          0              29.999         0              67
  16  Box             -0.204         1.100          1.946          0              0              0              67
  17  Statue          -0.155         0.531          -2.252         0              0              0              45
  18  CreditCard      -0.023         0.906          1.217          0              0              0              67
  19  Laptop          -0.023         0.904          2.431          0              270            0              67
  20  WateringCan     2.893          0.014          -1.916         0              328.832        0
  21  Newspaper       3.18           0.586          -0.543         0              259.747        0              61
  22  Vase            -2.168         1.195          -2.183         0              0              0
  23  CellPhone       -3.299         0.590          -0.49          0              0              0              57
  24  RemoteControl   -0.204         0.910          1.703          0              0              0              67
  25  Vase            -1.046         1.195          -2.151         0              0              0
  26  Pillow          -2.893         0.616          0.818          0              0              0              62
  27  KeyChain        -2.885         0.563          1.600          0              270            0              62
  28  Cabinet         0.333          0.514          -2.015         0              0              0
  29  DeskLamp        3.143          0.591          1.457          0              270            0
  30  LightSwitch     -0.927         1.316          2.846          0              180            0
  31  HousePlant      0.491          0.874          -1.581         0              0              0
  32  Television      0.069          1.406          1.698          0              270            0
  33  GarbageCan      3.164          0.026          0.891          0              0              0
  34  Painting        -1.561         1.408          -2.318         90             180            0
  35  Painting        3.367          1.789          -0.949         90             270            0
  36  Painting        -3.488         1.386          -0.507         90             270            0
  37  FloorLamp       3.103          0.025          -2.341         0              135            0
  38  Window          1.133          1.218          -2.740         90             0              0
  39  Window          -3.368         1.180          -1.539         90             90             0
  40  Window          2.898          1.218          -2.740         90             0              0
  41  Window          2.006          1.218          -2.740         90             0              0
  42  Window          -0.193         1.157          -2.563         90             0              0
  43  Window          -2.970         1.157          -2.563         90             0              0
  44  ArmChair        -2.859         0.026          -2.036         0              29.994         0
  45  SideTable       -0.170         0.027          -2.279         0              0              0
  46  Drawer          -0.173         0.465          -2.135         0              0              0
  47  Drawer          3.104          0.167          1.400          0              270            0
  48  SideTable       3.163          0.032          1.400          0              270            0
  49  Drawer          3.103          0.418          1.401          0              270            0
  50  SideTable       3.163          0.032          0.364          0              270            0
  51  Drawer          -3.241         0.418          -0.490         0              90             0
  52  Drawer          3.104          0.167          -0.574         0              270            0
  53  SideTable       3.163          0.032          -0.574         0              270            0
  54  Drawer          3.104          0.167          0.364          0              270            0
  55  Drawer          3.104          0.419          -0.574         0              270            0
  56  Drawer          -3.241         0.167          -0.489         0              90             0
  57  SideTable       -3.300         0.032          -0.489         0              90             0
  58  Drawer          3.104          0.419          0.364          0              270            0
  59  Chair           1.049          0.031          -2.190         0              29.997         0
  60  DogBed          2.739          0.032          2.260          0              45             0
  61  Chair           2.037          0.031          -2.232         0              350.485        0
  62  Sofa            -2.957         0.032          1.393          0              90             0
  63  Drawer          -0.189         0.232          0.954          0              270            0
  64  Drawer          -0.415         0.854          1.921          0              270            0
  65  Drawer          -0.415         0.351          1.414          0              270            0
  66  Drawer          -0.415         0.603          1.414          0              270            0
  67  Dresser         -0.052         0.028          1.667          0              270            0
  68  Drawer          -0.190         0.484          0.954          0              270            0
  69  Drawer          -0.190         0.736          0.954          0              270            0
  70  Drawer          -0.415         0.603          1.921          0              270            0
  71  Drawer          -0.415         0.603          2.384          0              270            0
  72  Drawer          -0.415         0.351          2.384          0              270            0
  73  Drawer          -0.415         0.854          2.384          0              270            0
  74  Drawer          -0.415         0.351          1.921          0              270            0
  75  Drawer          -0.415         0.854          1.414          0              270            0
  76  Stool           3.135          0.029          -1.625         0              330.001        0
  77  Chair           1.631          0.029          2.210          0              161.562        0
  78  NorthWall
  79  EastWall
  80  SouthWall
  81  WestWall

Plan:
STEP 1: walk to face bureau with box | STEP 2: pick up box from bureau | STEP 3: walk to face chair to the right of fireplace | STEP 4: place box in chair | END