Task: Move an empty box to the chair

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -3.0           0.901          3.5            0              180            0
   1  Statue          -2.152         0.554          2.552          0              0              0              35
   2  Watch           -5.094         0.985          2.595          0              90             0              32
   3  Watch           -5.007         0.988          2.595          0              0              0              32
   4  Box             -4.668         0.405          2.337          0              90             0              34
   5  Box             -1.990         0.754          0.843          0              270            0              38
   6  WateringCan     -0.277         -0.000         4.860          0              0              0              Floor|+00.38|
   7  CreditCard      -1.752         0.456          0.662          0              0              0              38
   8  KeyChain        -5.007         0.989          1.742          0              0              0              32
   9  Pillow          -3.294         0.624          0.801          0              0              338.090        38
  10  Laptop          -4.873         0.981          3.44           0              83.878         0              32
  11  RemoteControl   -2.405         0.455          2.359          0              0              0              35
  12  Watch           -4.569         0.988          3.447          0              0              0              32
  13  Statue          -5.007         1.086          2.879          0              0              0              32
  14  Curtains        -2.535         2.596          0.111          0              0              0
  15  FloorLamp       -4.661         0.009          0.422          0              0              0
  16  Television      -4.883         1.472          2.434          0              90             0
  17  GarbageCan      -4.810         -0.032         1.236          0              180            0
  18  Painting        -0.293         1.820          0.016          90             0              0
  19  LightSwitch     -1.016         1.243          5.0            0              180            0
  20  Painting        -5.118         1.480          4.396          90             270            0
  21  Painting        -5.118         1.480          0.656          90             270            0
  22  Window          -1.715         1.554          0.006          90             180            0
  23  Window          -3.244         1.554          0.006          90             180            0
  24  DeskLamp        0.015          0.704          4.676          0              0              0
  25  HousePlant      -4.824         0.984          1.572          0              0              0
  26  Drawer          -4.497         0.901          2.854          0              90             0
  27  Drawer          -4.497         0.901          2.339          0              90             0
  28  Cabinet         -4.409         0.498          2.603          0              90             0
  29  Cabinet         -4.409         0.498          3.622          0              90             0
  30  Drawer          -4.497         0.901          3.372          0              90             0
  31  Cabinet         -4.409         0.498          1.569          0              90             0
  32  Dresser         -4.744         4.321          2.595          0              90             0
  33  Drawer          -4.497         0.901          1.818          0              90             0
  34  Cabinet         -4.409         0.498          2.588          0              90             0
  35  CoffeeTable     -2.405         -0.000         2.546          0              0              0
  36  ArmChair        -0.298         0.002          3.310          0              270            0
  37  ArmChair        -0.298         0.002          1.713          0              270            0
  38  Sofa            -2.464         -0.002         0.700          0              0              0
  39  Chair           -4.735         0.011          4.609          1.215          90             0
  40  SideTable       -0.041         0.002          4.619          0              0              0
  41  NorthWall
  42  EastWall
  43  SouthWall
  44  WestWall

Plan:
STEP 1: Move across the room to the left side of the largest tan sofa | STEP 2: Pick up the empty box on top of the sofa | STEP 3: Carry the empty box to the tan chair on the right  | STEP 4: Place the empty box on top of the chair | END