Task: clean up boxes and place them on the table

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -4.5           0.908          6.75           0              90             0
   1  Plate           -2.047         0.797          1.751          0              0              0              55
   2  TissueBox       -2.324         0.783          1.751          0              0              0              55
   3  Watch           -3.255         0.533          8.427          0              90             0              61
   4  Statue          -2.324         0.791          2.216          0              270            0              55
   5  KeyChain        -1.928         0.456          6.739          0              0              0              48
   6  CreditCard      -2.651         0.533          8.409          0              180            0              61
   7  Box             -2.047         0.910          2.216          0              0              0              55
   8  Box             -2.878         0.910          2.526          0              180            0              55
   9  Laptop          -3.155         0.780          2.061          0              0              0              55
  10  Pillow          -1.852         0.516          7.334          0              0              0              48
  11  Box             -1.699         0.583          6.144          0              90             0              48
  12  KeyChain        -0.499         0.677          8.537          0              329.437        0              51
  13  Plate           -2.688         0.788          1.820          0              346.769        0              55
  14  Candle          -0.374         0.676          0.442          0              239.437        0              50
  15  Pillow          -1.721         0.519          5.725          0              0              0              48
  16  Candle          -0.410         0.676          0.566          0              329.437        0              50
  17  TissueBox       -2.878         0.783          2.371          0              0              0              55
  18  Laptop          -2.324         0.779          2.526          0              0              0              55
  19  Newspaper       -3.709         0.781          2.681          0              0              0              55
  20  CreditCard      -2.601         0.781          2.061          0              0              0              55
  21  RemoteControl   -2.816         0.327          4.706          0              270            0              54
  22  Boots           -5.786         0.007          4.817          0              167.028        0              Floor|-02.99|
  23  Candle          -3.432         0.784          2.216          0              0              0              55
  24  Statue          -3.432         0.883          1.751          0              0              0              55
  25  Watch           -0.327         0.676          0.179          0              329.437        0              50
  26  Statue          -2.324         0.792          1.906          0              0              0              55
  27  Mirror          -5.489         1.825          6.505          0              0              0
  28  FloorLamp       -5.645         0.013          8.526          0              0              0
  29  HousePlant      -3.203         0.452          6.798          0              0              0
  30  HousePlant      -5.358         1.476          5.442          0              343.031        0
  31  GarbageCan      -5.711         0.005          0.300          0              34.872         0
  32  Television      -3.114         0.996          8.693          1.686          180            0
  33  LightSwitch     -6.0           1.338          3.433          0              90             0
  34  Painting        -5.954         1.526          1.153          90             270            0
  35  Window          0.157          1.203          6.895          90             90             0
  36  Window          -4.855         1.203          -0.158         90             180            0
  37  Window          0.157          1.203          4.923          90             90             0
  38  Window          0.157          1.203          2.986          90             90             0
  39  Window          0.157          1.203          1.088          90             90             0
  40  Window          -2.942         1.203          -0.158         90             180            0
  41  Window          -1.057         1.203          -0.158         90             180            0
  42  DeskLamp        -0.432         0.684          8.644          0              0              0
  43  DeskLamp        -0.346         0.684          0.335          0              0              0
  44  Chair           -3.326         0.015          2.739          358.826        189.525        358.738
  45  Chair           -2.352         0.015          2.744          358.824        163.801        358.735
  46  Chair           -2.476         0.015          1.628          358.826        21.693         358.736
  47  Chair           -3.327         0.015          1.701          358.828        0              358.738
  48  Sofa            -1.706         0.002          6.448          0              270            0
  49  Chair           -0.328         0.016          0.998          0              246.550        0
  50  SideTable       -0.396         0.008          0.357          0              329.435        0
  51  SideTable       -0.527         0.008          8.521          0              329.431        0
  52  CoffeeTable     -3.236         0.010          6.598          0              270            0
  53  ArmChair        -3.663         0.012          4.562          0              0              0
  54  ArmChair        -2.691         0.012          4.618          0              0              0
  55  DiningTable     -2.903         0.010          2.225          0              0              0
  56  RoomDecor       -0.189         0.009          3.909          0              0              0
  57  RoomDecor       -0.189         0.009          2.097          0              0              0
  58  RoomDecor       -0.190         0.009          5.855          0              0              0
  59  RoomDecor       -3.957         0.009          0.254          0              0              0
  60  RoomDecor       -2.036         0.009          0.254          0              0              0
  61  CoffeeTable     -3.129         0.016          8.533          0              0              0
  62  NorthWall
  63  EastWall
  64  SouthWall
  65  WestWall

Plan:
STEP 1: turn right and walk straight then turn left behind the couch and walk straight and turn right towards the table | STEP 2: pick up the box on the table | STEP 3: turn around and walk straight then turn left then turn right and walk straight towards the table and turn right | STEP 4: put the box down on the table | STEP 5: turn left the walk straight then turn right in front of the tv and walk straight then turn left towards the tv then turn right again then turn left again then turn right again then walk straight towards the table then turn right and walk straight then turn right towards the back of the couch | STEP 6: pick up the box off of the couch | STEP 7: turn right then walk straight then turn left towards the tv and walk straight then turn left then right then left again then left then right again and walk straight then turn left at the table and then left again at the table | STEP 8: put the box down on the left edge of the table | END