Task: Place a box with the golden vase on a table

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          0.902          4.5            0              0              0
   1  Plate           -1.825         0.689          1.052          0              0              0              54
   2  Newspaper       -2.396         0.097          5.042          0              0              0              48
   3  Newspaper       -2.396         0.347          4.887          0              0              0              46
   4  Vase            -1.825         0.693          1.299          0              0              0              54
   5  Pen             -1.974         0.753          -0.072         0              0              0              52
   6  Pen             -2.259         0.243          6.192          0              0              0              47
   7  Pencil          -2.259         0.241          6.010          0              0              0              47
   8  Pencil          -2.393         0.751          -0.028         0              0              0              52
   9  KeyChain        -1.079         0.433          6.038          0              225            0              43
  10  KeyChain        -0.811         0.433          5.650          0              135            0              43
  11  Book            -1.609         0.482          3.525          0              0              0              50
  12  CreditCard      -2.318         0.603          4.654          0              0              0              45
  13  RemoteControl   -0.284         0.708          3.285          0              0              0              40
  14  Book            -2.668         0.482          3.525          0              0              0              50
  15  Box             -1.874         0.678          3.525          0              90             0              50
  16  Statue          -2.473         0.609          4.731          0              90             0              45
  17  Laptop          -2.712         0.687          1.546          0              0              0              58
  18  TissueBox       -2.164         0.099          5.120          0              0              0              48
  19  CreditCard      -0.768         0.438          6.087          0              135            0              43
  20  Plate           -2.934         0.689          1.052          0              0              0              44
  21  KeyChain        -2.164         0.096          4.809          0              0              0              48
  22  Vase            -2.164         0.349          4.887          0              0              0              46
  23  Pencil          -2.047         0.692          1.052          0              0              0              54
  24  Pillow          -3.271         0.661          3.44           0              0              331.220        50
  25  Bowl            -1.603         0.688          1.423          0              0              0              59
  26  RemoteControl   -2.396         0.098          4.809          0              0              0              48
  27  Watch           -2.008         0.238          6.010          0              0              0              47
  28  Pen             -1.603         0.694          1.052          0              0              0              44
  29  Newspaper       -2.532         0.749          -0.072         0              0              0              52
  30  Painting        -2.048         1.615          -0.303         0              0              0
  31  Curtains        -0.083         2.420          0.969          0              0              0
  32  Television      -2.357         1.205          6.245          0              180            0
  33  HousePlant      -2.933         0.595          -0.093         0              0              0
  34  GarbageCan      -4.864         -0.001         0.267          0              90             0
  35  FloorLamp       -0.566         0.002          0.024          0              316.932        0
  36  DeskLamp        -0.273         0.700          3.612          0              0              0
  37  Window          -0.057         0.925          1.764          90             270            0
  38  Window          -0.057         1.130          4.886          90             270            0
  39  LightSwitch     -3.305         1.340          -0.314         0              0              0
  40  SideTable       -0.255         0.001          3.369          0              270            0
  41  Drawer          -0.306         0.626          3.369          0              270            0
  42  ArmChair        -4.376         -8.374         6.016          0              152.639        0
  43  ArmChair        -0.847         -8.106         5.983          0              231.318        0
  44  DiningTable     -2.268         -0.016         1.422          0              0              0
  45  CoffeeTable     -2.326         0.002          4.922          0              0              0
  46  Shelf           -2.326         0.338          4.922          0              0              0
  47  Shelf           -2.385         0.238          6.296          0              0              0
  48  Shelf           -2.326         0.089          4.922          0              0              0
  49  TVStand         -2.385         0.006          6.296          0              0              0
  50  Sofa            -2.404         -0.003         3.417          0              0              0
  51  SideTable       -2.935         0.004          -0.103         0              0              0
  52  SideTable       -2.113         0.002          -0.139         0              0              0
  53  Drawer          -2.113         0.654          -0.069         0              0              0
  54  Chair           -1.862         0.020          1.035          0              0              0
  55  Chair           -3.122         0.020          1.410          0              104.999        0
  56  Chair           -1.864         0.020          1.838          0              185.032        0
  57  Chair           -2.507         0.020          0.991          0              6.189          0
  58  Chair           -2.519         0.020          1.882          0              164.977        0
  59  Chair           -1.335         0.020          1.430          0              270            0
  60  NorthWall
  61  EastWall
  62  SouthWall
  63  WestWall

Plan:
STEP 1: turn to the right and take a few steps toward the window and turn to the right and go to the lamp and turn to the right and go to the side chair and turn to the right | STEP 2: pick up the golden vase from the table | STEP 3: turn to the right and take a few steps forward to clear the table and turn left and go to the front of the sofa and turn left and take a few steps forward and turn to the left | STEP 4: put the golden vase in the box on the sofa | STEP 5: pick up the box with the golden vase from the sofa | STEP 6: turn to the left and take a few steps to clear the sofa and turn right and go a few steps to clear the sofa and turn right and go to the last side chair and turn to the left | STEP 7: place the box with the golden vase on the table left of the notebook computer | END