Task: put a blue object in the safe on the floor

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          1.5            0              90             0
   1  RemoteControl   -2.914         0.390          6.095          0              180            0              54
   2  Laptop          -1.685         0.450          4.187          0              0              0              65
   3  Laptop          -2.238         0.653          -2.202         0              0              0              52
   4  Box             -1.329         0.945          -1.693         0              0              0              52
   5  Vase            -2.106         0.462          3.771          0              0              0              65
   6  CellPhone       -0.108         0.744          1.300          0              0              0              31
   7  WateringCan     -3.580         0.003          5.507          2.684          0              0              Floor|-04.41|
   8  KeyChain        -4.176         0.795          0.920          0              0              0              24
   9  Vase            -4.242         0.789          1.181          0              0              0              24
  10  Vase            -1.685         0.457          4.464          0              0              0              65
  11  Laptop          -2.664         0.387          5.916          0              180            0              54
  12  Pillow          -3.585         0.451          3.615          0              90             0              55
  13  RemoteControl   -2.772         0.320          2.384          0              0              0              62
  14  CreditCard      -2.106         0.452          4.048          0              0              0              65
  15  Vase            -4.225         0.789          0.382          0              0              0              24
  16  Statue          -4.223         1.263          0.399          0              0              0              21
  17  Statue          -0.060         0.702          5.390          0              135            0              46
  18  Statue          -0.777         0.793          5.969          0              315            0              46
  19  Shelf           -4.253         2.157          0.771          0              0              0
  20  Painting        -3.368         1.741          -0.298         0              0              0
  21  Shelf           -4.253         1.306          0.771          0              0              0
  22  Painting        -1.756         1.424          -3.595         0              0              0
  23  Shelf           -4.253         1.690          0.771          0              0              0
  24  Shelf           -4.261         0.833          0.771          0              0              0
  25  Drawer          0.411          0.581          1.221          0              180            0
  26  Drawer          -0.000         0.170          1.221          0              180            0
  27  Drawer          -0.000         0.581          1.221          0              180            0
  28  Drawer          0.411          0.375          1.221          0              180            0
  29  Drawer          0.411          0.170          1.221          0              180            0
  30  Drawer          -0.000         0.375          1.221          0              180            0
  31  Desk            -0.352         0.003          1.371          0              180            0
  32  FloorLamp       0.391          -0.001         5.157          0              0              0
  33  Window          -2.828         0.470          -0.157         90             199.328        0
  34  Window          -4.410         1.702          1.787          90             270            0
  35  Window          -3.638         1.702          6.735          90             0              0
  36  Window          -4.410         1.702          2.790          90             270            0
  37  Window          -2.827         1.702          -0.157         90             199.328        0
  38  Window          -0.131         1.702          6.735          90             0              0
  39  Window          -1.013         1.702          -0.154         90             159.633        0
  40  Window          -4.410         1.702          5.980          90             270            0
  41  Television      -0.153         1.176          5.790          0              225            0
  42  GarbageCan      0.357          0.003          2.159          0              90             0
  43  DeskLamp        0.277          0.735          1.381          0              0              0
  44  HousePlant      -1.819         0.641          -2.011         0              315            0
  45  LightSwitch     -2.740         1.495          -0.405         0              180            0
  46  TVStand         -0.118         0.001          5.874          0              45             0
  47  Chair           -1.353         0.002          -2.872         0              349.207        0
  48  Chair           -2.220         0.002          -1.298         0              168.118        0
  49  Chair           -1.515         0.007          -1.331         358.639        187.454        0
  50  Chair           -2.189         0.002          -2.835         0              2.328          0
  51  Safe            0.174          0.001          -0.071         0              323.940        0
  52  DiningTable     -1.783         0.003          -2.039         0              0              0
  53  Chair           -0.636         0.010          0.993          0              358.396        0
  54  Sofa            -2.161         0.006          6.115          0              180            0
  55  Sofa            -3.782         0.006          4.153          0              90             0
  56  Shelf           -1.095         0.607          1.321          0              180            0
  57  Shelf           -1.267         0.607          1.321          0              180            0
  58  Shelf           -1.267         0.401          1.321          0              180            0
  59  Shelf           -1.095         0.196          1.320          0              180            0
  60  Shelf           -1.095         0.401          1.321          0              180            0
  61  Shelf           -1.267         0.196          1.320          0              180            0
  62  ArmChair        -2.628         0.009          2.421          0              0              0
  63  Chair           -0.485         0.010          4.452          0              270            0
  64  Chair           -0.431         0.010          3.595          0              270            0
  65  CoffeeTable     -1.965         0.000          4.187          0              0              0
  66  NorthWall
  67  EastWall
  68  SouthWall
  69  WestWall

Plan:
STEP 1: turn around and walk to the shelves on the wall | STEP 2: take the blue object off of the shelf | STEP 3: turn around and walk over to the safe at the end of the room | STEP 4: put the blue object in the safe on the floor | END