Task: put box on couch

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           2.25           0.900          0.25           0              180            0
   1  Bowl            -1.625         0.170          -0.311         0              90             0              44
   2  KeyChain        0.448          0.757          -2.472         0              0              0              32
   3  RemoteControl   0.573          0.547          0.997          0              180            0              37
   4  RemoteControl   -0.115         0.478          -1.182         0              180            0              40
   5  CreditCard      -0.451         0.756          -2.397         0              0              0              32
   6  CreditCard      0.573          0.547          0.906          0              180            0              37
   7  Box             2.151          0.655          -2.058         0              0              0              50
   8  Box             2.513          0.144          -1.093         0              318.382        0              50
   9  Bowl            -0.265         0.473          -1.057         0              180            0              40
  10  KeyChain        -1.935         0.757          -1.290         0              90             0              44
  11  Vase            -1.588         0.168          -0.531         0              0              0              45
  12  Statue          -1.802         1.315          -2.467         0              270            0              42
  13  Pillow          -0.495         0.593          0.955          0              0              0              37
  14  Laptop          -1.732         0.753          -0.696         0              73.105         0              44
  15  Vase            -0.451         0.757          -2.547         0              0              0              32
  16  Statue          -1.680         0.858          -1.055         0              90             0              44
  17  RemoteControl   -0.416         0.474          -1.120         0              180            0              40
  18  Vase            0.009          0.168          -2.264         0              0              0              34
  19  CreditCard      2.067          0.452          -2.225         0              270            0              50
  20  Vase            -0.265         0.474          -1.245         0              180            0              40
  21  Statue          0.035          0.483          -0.995         0              180            0              40
  22  Painting        0.172          1.781          1.934          0              0              0
  23  HousePlant      -1.646         0.755          -1.792         0              0              0
  24  LightSwitch     1.406          1.294          1.651          0              180            0
  25  Television      -0.035         1.239          -2.439         0              0              0
  26  FloorLamp       -1.573         -0.003         1.302          0              0              0
  27  GarbageCan      0.742          -0.000         -2.522         0              270            0
  28  Window          -0.816         1.534          -2.719         90             0              0
  29  Window          0.791          1.534          -2.718         90             0              0
  30  Shelf           0.340          0.474          -2.377         0              0              0
  31  Shelf           0.341          0.273          -2.377         0              0              0
  32  TVStand         -0.025         -0.000         -2.385         0              0              0
  33  Shelf           -0.393         0.302          -2.382         0              0              0
  34  Shelf           -0.026         0.442          -2.380         0              0              0
  35  Shelf           -0.393         0.597          -2.382         0              0              0
  36  Shelf           0.340          0.643          -2.377         0              0              0
  37  Sofa            0.124          0.008          1.032          0              180            0
  38  Cabinet         -1.827         0.729          -2.357         0              90             0
  39  Shelf           -1.827         2.041          -2.356         0              90             0
  40  CoffeeTable     0.017          -0.000         -1.108         0              180            0
  41  Shelf           -1.827         1.744          -2.356         0              90             0
  42  Shelf           -1.827         1.452          -2.356         0              90             0
  43  Shelf           -1.730         0.278          -1.635         0              90             0
  44  TVStand         -1.733         -0.000         -1.058         0              90             0
  45  Shelf           -1.730         0.302          -0.479         0              90             0
  46  Shelf           -1.732         0.446          -1.056         0              90             0
  47  Shelf           -1.731         0.596          -0.478         0              90             0
  48  Shelf           -1.733         0.648          -1.635         0              90             0
  49  Shelf           -1.730         0.477          -1.635         0              90             0
  50  ArmChair        2.344          0.002          -2.041         0              270            0
  51  ShelvingUnit    -1.847         0.001          -2.357         0              90             0
  52  NorthWall
  53  EastWall
  54  SouthWall
  55  WestWall

Plan:
STEP 1: walk to face box on floor | STEP 2: pick up box from floor | STEP 3: walk to face couch | STEP 4: put box on couch | END