Task: To move two spheres from the mantle to a black end table to the left of the couch.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.75          0.916          -0.5           0              0              0
   1  Newspaper       -0.145         0.165          1.466          0              0              0              56
   2  CellPhone       -3.031         0.564          0.981          0              270            0              53
   3  CellPhone       -0.046         0.161          2.051          0              0              0              65
   4  Box             -2.958         0.754          1.806          0              270            0              53
   5  Box             -0.204         1.096          1.946          0              0              0              58
   6  Book            0.116          0.902          1.073          0              29.999         0              58
   7  Box             3.173          0.206          -0.048         0              19.470         0              44
   8  Statue          0.067          0.915          2.431          0              0              0              58
   9  CreditCard      -0.113         0.906          1.703          0              0              0              58
  10  Laptop          -2.780         0.365          -1.874         0              0              0              35
  11  WateringCan     2.893          0.014          -1.916         0              328.832        0
  12  Newspaper       3.18           0.586          -0.543         0              259.747        0              52
  13  Vase            -2.168         1.195          -2.183         0              0              0
  14  CellPhone       -2.812         0.564          2.012          0              270            0              53
  15  RemoteControl   -2.958         0.564          0.775          0              270            0              53
  16  Vase            -1.046         1.195          -2.151         0              0              0
  17  Pillow          -2.812         0.623          1.187          0              270            0              53
  18  KeyChain        -0.023         0.909          2.188          0              0              0              58
  19  Cabinet         0.333          0.514          -2.015         0              0              0
  20  DeskLamp        3.143          0.591          1.457          0              270            0
  21  LightSwitch     -0.927         1.316          2.846          0              180            0
  22  HousePlant      0.491          0.874          -1.581         0              0              0
  23  Television      0.069          1.406          1.698          0              270            0
  24  GarbageCan      3.164          0.026          0.891          0              0              0
  25  Painting        -1.561         1.408          -2.318         90             180            0
  26  Painting        3.367          1.789          -0.949         90             270            0
  27  Painting        -3.488         1.386          -0.507         90             270            0
  28  FloorLamp       3.103          0.025          -2.341         0              135            0
  29  Window          1.133          1.218          -2.740         90             0              0
  30  Window          -3.368         1.180          -1.539         90             90             0
  31  Window          2.898          1.218          -2.740         90             0              0
  32  Window          2.006          1.218          -2.740         90             0              0
  33  Window          -0.193         1.157          -2.563         90             0              0
  34  Window          -2.970         1.157          -2.563         90             0              0
  35  ArmChair        -2.859         0.026          -2.036         0              29.994         0
  36  SideTable       -0.170         0.027          -2.279         0              0              0
  37  Drawer          -0.173         0.465          -2.135         0              0              0
  38  Drawer          3.104          0.167          1.400          0              270            0
  39  SideTable       3.163          0.032          1.400          0              270            0
  40  Drawer          3.103          0.418          1.401          0              270            0
  41  SideTable       3.163          0.032          0.364          0              270            0
  42  Drawer          -3.241         0.418          -0.490         0              90             0
  43  Drawer          3.104          0.167          -0.574         0              270            0
  44  SideTable       3.163          0.032          -0.574         0              270            0
  45  Drawer          3.104          0.167          0.364          0              270            0
  46  Drawer          3.104          0.419          -0.574         0              270            0
  47  Drawer          -3.241         0.167          -0.489         0              90             0
  48  SideTable       -3.300         0.032          -0.489         0              90             0
  49  Drawer          3.104          0.419          0.364          0              270            0
  50  Chair           1.049          0.031          -2.190         0              29.997         0
  51  DogBed          2.739          0.032          2.260          0              45             0
  52  Chair           2.037          0.031          -2.232         0              350.485        0
  53  Sofa            -2.957         0.032          1.393          0              90             0
  54  Drawer          -0.189         0.232          0.954          0              270            0
  55  Drawer          -0.415         0.854          1.921          0              270            0
  56  Drawer          -0.415         0.351          1.414          0              270            0
  57  Drawer          -0.415         0.603          1.414          0              270            0
  58  Dresser         -0.052         0.028          1.667          0              270            0
  59  Drawer          -0.190         0.484          0.954          0              270            0
  60  Drawer          -0.190         0.736          0.954          0              270            0
  61  Drawer          -0.415         0.603          1.921          0              270            0
  62  Drawer          -0.415         0.603          2.384          0              270            0
  63  Drawer          -0.415         0.351          2.384          0              270            0
  64  Drawer          -0.415         0.854          2.384          0              270            0
  65  Drawer          -0.415         0.351          1.921          0              270            0
  66  Drawer          -0.415         0.854          1.414          0              270            0
  67  Stool           3.135          0.029          -1.625         0              330.001        0
  68  Chair           1.631          0.029          2.210          0              161.562        0
  69  NorthWall
  70  EastWall
  71  SouthWall
  72  WestWall

Plan:
STEP 1: Turn right and take a step, then turn right and take a step and face the mantle above the fireplace. | STEP 2: Pick up the sphere on the left end of the mantle. | STEP 3: Walk forward across the room to face the black end table. | STEP 4: Place the Sphere on the black end table. | STEP 5: Turn to the left and walk forward to face the mantle. | STEP 6: Pick up the sphere on the right end of the mantle. | STEP 7: Turn to the right and step to the right and face the small black end table. | STEP 8: Place the Sphere on the black end table beside the other sphere. | END