Task: Move a box to a couch

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.25          0.906          1.25           0              270            0
   1  TissueBox       -1.816         0.197          2.413          0              0              0              36
   2  TissueBox       -0.553         0.763          2.978          0              270            0              43
   3  Watch           -1.816         0.198          2.872          0              0              0              36
   4  Newspaper       -0.430         0.427          2.994          0              270            0              38
   5  KeyChain        -1.631         0.397          4.412          0              0              0              46
   6  KeyChain        -1.740         0.195          2.986          0              0              0              36
   7  CreditCard      -0.178         0.761          2.678          0              270            0              43
   8  RemoteControl   -0.253         0.766          3.128          0              270            0              43
   9  Box             -2.618         0.521          4.649          0              0              0              46
  10  Box             -2.111         0.293          2.930          0              0              0              36
  11  CreditCard      -1.969         0.195          2.872          0              0              0              36
  12  TissueBox       -0.328         0.763          2.828          0              270            0              43
  13  Laptop          -0.335         0.758          2.38           0              33.790         0              43
  14  Vase            -2.880         1.518          0.144          0              0              0
  15  RemoteControl   -0.328         0.763          2.978          0              270            0              43
  16  Pillow          -4.424         0.484          2.393          0              270            0              45
  17  KeyChain        -4.522         0.506          3.388          0              0              358.925        34
  18  Watch           -0.534         0.183          2.466          0              270            0              42
  19  Newspaper       -0.430         0.577          3.098          0              270            0              39
  20  Statue          -2.121         0.205          2.299          0              0              0              36
  21  Statue          -0.427         0.495          2.362          0              270            0              40
  22  Curtains        -1.030         2.113          0.0            0              0              0
  23  Curtains        -3.927         2.113          0.0            0              0              0
  24  HousePlant      -3.127         1.507          0.118          0              0              0
  25  Television      0.0            1.376          2.661          0              270            0
  26  GarbageCan      -0.227         0.005          4.778          0              0              0
  27  DeskLamp        -4.658         0.508          3.318          0              270            0
  28  Painting        -2.507         1.817          0.108          90             0              0
  29  FloorLamp       -4.596         0.006          0.399          0              65.211         0
  30  LightSwitch     -3.233         1.343          5.0            0              180            0
  31  Window          -1.011         1.391          0.029          90             180            0
  32  Window          -3.900         1.391          0.029          90             180            0
  33  Drawer          -4.433         0.473          3.344          0              90             0
  34  SideTable       -4.612         0.009          3.346          0              90             0
  35  Chair           -4.572         0.005          3.862          0              113.899        0
  36  CoffeeTable     -1.972         0.002          2.615          0              270            0
  37  ArmChair        -0.875         0.005          0.566          0              0              0
  38  Shelf           -0.340         0.480          3.046          0              270            0
  39  Shelf           -0.340         0.649          3.046          0              270            0
  40  Shelf           -0.340         0.603          2.312          0              270            0
  41  Shelf           -0.340         0.448          2.678          0              270            0
  42  Shelf           -0.340         0.308          2.312          0              270            0
  43  TVStand         -0.335         0.005          2.679          0              270            0
  44  Shelf           -0.340         0.279          3.046          0              270            0
  45  Sofa            -4.566         0.009          1.880          0              90             0
  46  Sofa            -2.124         0.009          4.558          0              180            0
  47  NorthWall
  48  SouthWall
  49  SouthWall

Plan:
STEP 1: Go to the center table | STEP 2: Pick up the box | STEP 3: Go to the couch | STEP 4: Put the box on the couch | END