Task: place a funnel on a stool

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           0.902          -4.25          0              90             0
   1  Statue          -2.933         0.710          -5.046         0              0              0              41
   2  Pen             -2.469         0.592          -2.161         0              90             0              38
   3  Pen             -4.358         0.710          -5.188         0              0              0              41
   4  Book            -4.262         0.334          -3.447         0              90             0              35
   5  CreditCard      -4.073         0.704          -4.952         0              0              0              41
   6  CreditCard      -4.262         0.335          -3.738         0              90             0              35
   7  RemoteControl   -4.073         0.706          -5.141         0              0              0              41
   8  RemoteControl   -4.076         0.341          -1.670         0              0              0              40
   9  Laptop          -2.257         0.585          -1.996         0              0              0              38
  10  Box             -2.362         0.261          -1.647         0              76.161         0              Floor|-04.47|
  11  Book            -2.574         0.587          -1.996         0              0              0              38
  12  Newspaper       -2.648         0.710          -5.046         0              0              0              41
  13  Watch           -3.503         0.705          -4.952         0              0              0              41
  14  Pen             -3.218         0.709          -4.999         0              0              0              41
  15  WateringCan     -7.991         0.000          -4.629         0              296.796        0              Floor|-04.47|
  16  Pillow          -4.282         0.454          -1.736         0              270            0              40
  17  CreditCard      -2.469         0.587          -2.987         0              0              0              38
  18  Vase            -4.477         0.697          -5.076         0              0              0              41
  19  KeyChain        -4.358         0.705          -5.141         0              90             0              41
  20  Vase            -4.218         0.697          -5.046         0              0              0              41
  21  Laptop          -2.568         0.580          -2.514         0              300.000        0              38
  22  Statue          -3.503         0.711          -5.141         0              0              0              41
  23  Vase            -3.901         0.697          -5.103         0              0              0              41
  24  RemoteControl   -2.786         0.590          -1.996         0              0              0              38
  25  Vase            -2.609         0.580          -2.942         0              0              0              38
  26  Mirror          -3.402         2.028          0.000          0              0              0
  27  FloorLamp       -4.821         0.000          -5.118         0              0              0
  28  LightSwitch     -5.763         1.330          0.010          0              180            0
  29  GarbageCan      -0.969         -0.027         -5.058         0              0              0
  30  HousePlant      -5.629         0.478          -5.126         0              0              0
  31  Painting        -3.372         1.800          -5.392         90             180            0
  32  Television      -0.606         1.674          -2.602         0              270            0
  33  Window          -8.237         1.411          -1.509         90             270            0
  34  Window          -8.237         1.411          -4.081         90             270            0
  35  ArmChair        -4.334         0.001          -3.528         0              90             0
  36  Shelf           -2.475         0.124          -2.486         0              90             0
  37  SideTable       -2.016         0.002          -5.075         0              180            0
  38  CoffeeTable     -2.474         0.001          -2.489         0              90             0
  39  SideTable       -5.428         0.002          -5.123         0              180            0
  40  Sofa            -4.354         0.009          -2.089         0              90             0
  41  Dresser         -3.505         0.003          -5.101         0              0              0
  42  Drawer          -2.981         0.481          -5.031         0              0              0
  43  Drawer          -4.022         0.169          -5.013         0              0              0
  44  Drawer          -2.978         0.169          -5.013         0              0              0
  45  Drawer          -4.022         0.477          -5.013         0              0              0
  46  NorthWall
  47  EastWall
  48  SouthWall
  49  WestWall

Plan:
STEP 1: turn around and move to the center table | STEP 2: pick up the funnel on the table | STEP 3: turn around and head to the stool | STEP 4: place the funnel on the stool | END