Task: Place two vases on the desk.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.5           0.902          0.75           0              180            0
   1  KeyChain        -0.139         0.121          1.418          0              270            0              28
   2  CreditCard      0.137          0.741          1.690          0              0              0              33
   3  RemoteControl   -2.164         0.390          6.095          0              180            0              56
   4  Pillow          -1.413         0.446          5.916          0              180            0              56
   5  Laptop          -2.465         0.653          -2.202         0              0              0              54
   6  Box             -2.011         0.945          -2.456         0              180            0              54
   7  Vase            -2.106         0.462          3.771          0              0              0              67
   8  CellPhone       -2.914         0.392          5.916          0              180            0              56
   9  WateringCan     -3.580         0.003          5.507          2.683          0              0              Floor|-04.41|
  10  KeyChain        -0.634         0.693          5.896          0              315            0              48
  11  Vase            -4.208         1.661          0.920          0              0              0              25
  12  Vase            -1.556         0.660          -2.329         0              0              0              54
  13  Laptop          -3.687         0.392          3.881          0              90             0              57
  14  Pillow          -3.585         0.451          3.348          0              90             0              57
  15  RemoteControl   -0.108         0.743          1.593          0              0              0              33
  16  CreditCard      -1.093         0.741          1.202          0              0              0              33
  17  Vase            -4.225         0.789          0.382          0              0              0              26
  18  Statue          -4.223         1.263          0.399          0              0              0              23
  19  Statue          -2.465         0.665          -2.456         0              180            0              54
  20  Statue          -1.948         0.506          4.122          0              0              0              67
  21  Shelf           -4.253         2.157          0.771          0              0              0
  22  Painting        -3.368         1.741          -0.298         0              0              0
  23  Shelf           -4.253         1.306          0.771          0              0              0
  24  Painting        -1.756         1.424          -3.595         0              0              0
  25  Shelf           -4.253         1.690          0.771          0              0              0
  26  Shelf           -4.261         0.833          0.771          0              0              0
  27  Drawer          0.411          0.581          1.221          0              180            0
  28  Drawer          -0.000         0.170          1.221          0              180            0
  29  Drawer          -0.000         0.581          1.221          0              180            0
  30  Drawer          0.411          0.375          1.221          0              180            0
  31  Drawer          0.411          0.170          1.221          0              180            0
  32  Drawer          -0.000         0.375          1.221          0              180            0
  33  Desk            -0.352         0.003          1.371          0              180            0
  34  FloorLamp       0.391          -0.001         5.157          0              0              0
  35  Window          -2.828         0.470          -0.157         90             199.328        0
  36  Window          -4.410         1.702          1.787          90             270            0
  37  Window          -3.638         1.702          6.735          90             0              0
  38  Window          -4.410         1.702          2.790          90             270            0
  39  Window          -2.827         1.702          -0.157         90             199.328        0
  40  Window          -0.131         1.702          6.735          90             0              0
  41  Window          -1.013         1.702          -0.154         90             159.633        0
  42  Window          -4.410         1.702          5.980          90             270            0
  43  Television      -0.153         1.176          5.790          0              225            0
  44  GarbageCan      0.357          0.003          2.159          0              90             0
  45  DeskLamp        0.277          0.735          1.381          0              0              0
  46  HousePlant      -1.819         0.641          -2.011         0              315            0
  47  LightSwitch     -2.740         1.495          -0.405         0              180            0
  48  TVStand         -0.118         0.001          5.874          0              45             0
  49  Chair           -1.353         0.002          -2.872         0              349.207        0
  50  Chair           -2.220         0.002          -1.298         0              168.118        0
  51  Chair           -1.515         0.007          -1.331         358.639        187.454        0
  52  Chair           -2.189         0.002          -2.835         0              2.328          0
  53  Safe            0.174          0.001          -0.071         0              323.940        0
  54  DiningTable     -1.783         0.003          -2.039         0              0              0
  55  Chair           -0.636         0.010          0.993          0              358.396        0
  56  Sofa            -2.161         0.006          6.115          0              180            0
  57  Sofa            -3.782         0.006          4.153          0              90             0
  58  Shelf           -1.095         0.607          1.321          0              180            0
  59  Shelf           -1.267         0.607          1.321          0              180            0
  60  Shelf           -1.267         0.401          1.321          0              180            0
  61  Shelf           -1.095         0.196          1.320          0              180            0
  62  Shelf           -1.095         0.401          1.321          0              180            0
  63  Shelf           -1.267         0.196          1.320          0              180            0
  64  ArmChair        -2.628         0.009          2.421          0              0              0
  65  Chair           -0.485         0.010          4.452          0              270            0
  66  Chair           -0.431         0.010          3.595          0              270            0
  67  CoffeeTable     -1.965         0.000          4.187          0              0              0
  68  NorthWall
  69  EastWall
  70  SouthWall
  71  WestWall

Plan:
STEP 1: Approach the coffee table in the living room. | STEP 2: Pick up the gold colored vase from on the coffee table. | STEP 3: Move to the black desk. | STEP 4: Place the gold vase on the desk | STEP 5: Move to the shelves on the right. | STEP 6: Pick up the blue vase on the lower shelf. | STEP 7: Move to the black desk. | STEP 8: Place the blue vase on the desk between the remote and the gold vase. | END