Task: Moving two vases from the fireplace to a side table

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.5           0.916          0.5            0              180            0
   1  Newspaper       0.067          0.916          0.974          0              0              0              61
   2  KeyChain        0.158          0.906          1.217          0              0              0              61
   3  CellPhone       -0.145         0.160          1.519          0              0              0              59
   4  CellPhone       -0.145         0.664          1.097          0              0              0              63
   5  CreditCard      0.003          0.412          2.051          0              0              0              64
   6  Box             -0.204         1.096          1.946          0              0              0              61
   7  Box             -0.023         1.096          2.431          0              0              0              61
   8  Pillow          -2.812         0.623          1.187          0              270            0              56
   9  Book            3.160          0.591          0.365          0              180            0              44
  10  Box             -2.885         0.754          1.600          0              270            0              56
  11  Statue          -0.204         0.915          1.217          0              0              0              61
  12  CreditCard      -0.295         0.909          1.703          0              0              0              61
  13  Laptop          -2.780         0.365          -1.874         0              0              0              38
  14  WateringCan     2.893          0.014          -1.916         0              328.832        0
  15  Newspaper       -0.145         0.418          2.419          0              0              0              65
  16  Vase            -2.168         1.195          -2.183         0              0              0
  17  CellPhone       -0.023         0.910          2.188          0              0              0              61
  18  RemoteControl   -0.295         0.910          2.431          0              0              0              61
  19  Vase            -1.046         1.195          -2.151         0              0              0
  20  Pillow          -2.893         0.616          0.818          0              0              0              56
  21  KeyChain        0.003          0.160          2.051          0              0              0              68
  22  Cabinet         0.333          0.514          -2.015         0              0              0
  23  DeskLamp        3.143          0.591          1.457          0              270            0
  24  LightSwitch     -0.927         1.316          2.846          0              180            0
  25  HousePlant      0.491          0.874          -1.581         0              0              0
  26  Television      0.069          1.406          1.698          0              270            0
  27  GarbageCan      3.164          0.026          0.891          0              0              0
  28  Painting        -1.561         1.408          -2.318         90             180            0
  29  Painting        3.367          1.789          -0.949         90             270            0
  30  Painting        -3.488         1.386          -0.507         90             270            0
  31  FloorLamp       3.103          0.025          -2.341         0              135            0
  32  Window          1.133          1.218          -2.740         90             0              0
  33  Window          -3.368         1.180          -1.539         90             90             0
  34  Window          2.898          1.218          -2.740         90             0              0
  35  Window          2.006          1.218          -2.740         90             0              0
  36  Window          -0.193         1.157          -2.563         90             0              0
  37  Window          -2.970         1.157          -2.563         90             0              0
  38  ArmChair        -2.859         0.026          -2.036         0              29.994         0
  39  SideTable       -0.170         0.027          -2.279         0              0              0
  40  Drawer          -0.173         0.465          -2.135         0              0              0
  41  Drawer          3.104          0.167          1.400          0              270            0
  42  SideTable       3.163          0.032          1.400          0              270            0
  43  Drawer          3.103          0.418          1.401          0              270            0
  44  SideTable       3.163          0.032          0.364          0              270            0
  45  Drawer          -3.241         0.418          -0.490         0              90             0
  46  Drawer          3.104          0.167          -0.574         0              270            0
  47  SideTable       3.163          0.032          -0.574         0              270            0
  48  Drawer          3.104          0.167          0.364          0              270            0
  49  Drawer          3.104          0.419          -0.574         0              270            0
  50  Drawer          -3.241         0.167          -0.489         0              90             0
  51  SideTable       -3.300         0.032          -0.489         0              90             0
  52  Drawer          3.104          0.419          0.364          0              270            0
  53  Chair           1.049          0.031          -2.190         0              29.997         0
  54  DogBed          2.739          0.032          2.260          0              45             0
  55  Chair           2.037          0.031          -2.232         0              350.485        0
  56  Sofa            -2.957         0.032          1.393          0              90             0
  57  Drawer          -0.189         0.232          0.954          0              270            0
  58  Drawer          -0.415         0.854          1.921          0              270            0
  59  Drawer          -0.415         0.351          1.414          0              270            0
  60  Drawer          -0.415         0.603          1.414          0              270            0
  61  Dresser         -0.052         0.028          1.667          0              270            0
  62  Drawer          -0.190         0.484          0.954          0              270            0
  63  Drawer          -0.190         0.736          0.954          0              270            0
  64  Drawer          -0.415         0.603          1.921          0              270            0
  65  Drawer          -0.415         0.603          2.384          0              270            0
  66  Drawer          -0.415         0.351          2.384          0              270            0
  67  Drawer          -0.415         0.854          2.384          0              270            0
  68  Drawer          -0.415         0.351          1.921          0              270            0
  69  Drawer          -0.415         0.854          1.414          0              270            0
  70  Stool           3.135          0.029          -1.625         0              330.001        0
  71  Chair           1.631          0.029          2.210          0              161.562        0
  72  NorthWall
  73  EastWall
  74  SouthWall
  75  WestWall

Plan:
STEP 1: Go forward and turn right towards the fireplace | STEP 2: Pick up a vase from the top of the fireplace | STEP 3: Turn around and move in between the couch and end table | STEP 4: Place the vase on the end table to the left of the couch | STEP 5: Turn left and go to the fireplace  | STEP 6: Pick up a second vase from the fireplace | STEP 7: Turn right and return to the side table beside the couch | STEP 8: Place the second vase to the left of the first vase | END