Task: move a box from the shelf to the chair

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -3.25          0.900          -1.0           0              180            0
   1  TissueBox       1.183          0.479          0.594          0              180            0              34
   2  Statue          -0.512         0.841          -0.818         0              0              0              38
   3  Pencil          3.967          0.881          1.181          0              0              0              43
   4  Pencil          3.928          0.879          0.865          0              0              0              43
   5  Pen             3.888          0.883          1.076          0              90             0              43
   6  Pen             2.114          0.070          -0.691         0              0              0              39
   7  KeyChain        4.007          0.878          1.181          0              90             0              43
   8  KeyChain        3.967          0.877          0.549          0              180            0              43
   9  CreditCard      0.967          0.335          1.892          0              0              0              24
  10  Box             -0.29          1.074          -0.714         0              270            0              Floor|+00.00|
  11  Newspaper       2.008          0.451          -0.729         0              0              0              35
  12  Laptop          1.805          0.47           0.499          0              0              0              34
  13  WateringCan     1.621          0.056          -0.697         0              0              0              39
  14  TissueBox       -0.395         0.459          -0.653         0              0              0              40
  15  KeyChain        3.901          0.766          0.578          0              0              0              44
  16  Pen             -0.185         0.463          -0.729         0              0              0              40
  17  Boots           4.005          0.001          1.707          1.563          246.167        0
  18  Pencil          1.891          0.480          0.267          0              180            0              34
  19  RemoteControl   1.183          0.478          0.431          0              180            0              34
  20  CreditCard      0.044          0.840          -0.672         0              0              0              38
  21  Pillow          0.651          0.395          1.708          0              0              0              24
  22  Statue          1.466          0.475          0.431          0              270            0              34
  23  Statue          -0.290         0.078          -0.729         0              0              0              37
  24  Sofa            1.174          0.0            1.865          0              0              0
  25  FloorLamp       3.608          0.000          2.163          0              0              0
  26  GarbageCan      3.833          -0.029         -0.495         0              0              0
  27  Television      1.897          1.281          -0.838         0              0              0
  28  Painting        4.070          1.950          0.848          90             270            0
  29  HousePlant      0.387          0.801          -0.725         0              90             0
  30  Window          0.023          2.072          2.484          90             180            0
  31  Window          1.570          2.072          2.484          90             180            0
  32  LightSwitch     -1.399         1.289          1.835          0              90             0
  33  ArmChair        2.655          0.000          1.858          0              180            0
  34  CoffeeTable     1.591          -0.000         0.446          0              180            0
  35  Shelf           1.905          0.588          -0.730         0              0              0
  36  TVStand         1.904          -0.000         -0.770         0              0              0
  37  Shelf           -0.289         0.200          -0.732         0              0              0
  38  TVStand         -0.290         -0.000         -0.772         0              0              0
  39  Shelf           1.905          0.200          -0.730         0              0              0
  40  Shelf           -0.289         0.588          -0.732         0              0              0
  41  ArmChair        -0.270         0.000          1.870          0              181.372        0
  42  Sofa            1.193          0.008          1.865          0              180            0
  43  SideTable       3.946          0.000          0.865          0              270            0
  44  Drawer          3.882          0.774          0.864          0              270            0
  45  NorthWall
  46  EastWall
  47  SouthWall
  48  WestWall

Plan:
STEP 1: turn around, walk down hallway, turn left, take one step, turn right, walk forward a few steps, turn right to face shelves with a box on top | STEP 2: pick up the box that is on the shelf | STEP 3: turn around, walk forward to the green chair | STEP 4: put the box on the green chair | END