Task: Put a vase in a safe.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -4.0           0.901          1.5            0              270            0
   1  TissueBox       -3.121         0.201          4.342          0              90             0              49
   2  TissueBox       -5.024         1.040          0.306          0              0              0              32
   3  Newspaper       -5.534         1.045          0.438          0              0              0              32
   4  Statue          -1.277         1.107          0.192          0              0              0              36
   5  Watch           -2.191         0.034          0.265          0              90             0              33
   6  Box             -4.741         0.425          4.587          0              0              0              53
   7  Watch           -2.876         0.997          4.359          0              90             0              52
   8  Pillow          -2.031         0.668          4.421          0              0              0              44
   9  TissueBox       -2.914         0.201          4.466          0              90             0              49
  10  Newspaper       -0.265         1.107          1.192          0              270            0              41
  11  CreditCard      -0.192         1.101          0.917          0              270            0              34
  12  KeyChain        -4.100         0.997          4.336          0              180            0              45
  13  CellPhone       -4.625         0.997          4.313          0              90             0              50
  14  Statue          -0.273         1.597          1.189          0              270            0              38
  15  Laptop          -4.184         1.109          4.588          0              90             0              50
  16  RemoteControl   -3.864         1.113          4.885          0              90             0              50
  17  Vase            -0.213         0.077          0.828          0              270            0              35
  18  DeskLamp        -4.649         1.051          0.268          0              0              0
  19  DeskLamp        -2.992         1.107          4.522          0              0              0
  20  FloorLamp       -0.650         0.007          4.431          0              0              0
  21  FloorLamp       -5.607         0.007          4.641          0              0              0
  22  Shelf           -5.237         1.776          0.070          0              0              0
  23  Shelf           -5.238         1.968          0.085          0              0              0
  24  Shelf           -5.242         1.391          0.086          0              0              0
  25  Shelf           -5.241         1.582          0.065          0              0              0
  26  LightSwitch     -6.002         1.353          3.404          0              90             0
  27  GarbageCan      -5.794         -0.033         4.073          0              90             0
  28  Painting        -6.017         1.802          4.177          90             270            0
  29  HousePlant      -3.966         1.625          0.135          0              315            0
  30  Television      -3.355         0.833          0.027          0              0              0
  31  Drawer          -5.024         0.903          0.370          0              0              0
  32  SideTable       -5.024         0.008          0.267          0              0              0
  33  Safe            -2.298         5.778          0.268          0              90             0
  34  Shelf           -0.253         0.781          1.058          0              270            0
  35  Shelf           -0.283         0.274          1.066          0              270            0
  36  Shelf           -1.224         1.288          0.270          0              0              0
  37  Shelf           -1.218         1.810          0.275          0              0              0
  38  Shelf           -0.280         1.810          1.057          0              270            0
  39  Shelf           -1.218         0.274          0.262          0              0              0
  40  Shelf           -1.223         0.782          0.237          0              0              0
  41  Shelf           -0.280         1.288          1.055          0              270            0
  42  ShelvingUnit    -0.268         0.004          1.067          0              270            0
  43  ShelvingUnit    -1.218         0.004          0.244          0              0              0
  44  ArmChair        -2.027         0.001          4.422          0              178.692        0
  45  Drawer          -4.329         1.014          4.311          0              180            0
  46  Drawer          -3.750         1.014          4.311          0              180            0
  47  Cabinet         -4.049         0.561          4.212          0              180            0
  48  Cabinet         -4.032         0.561          4.212          0              180            0
  49  Cabinet         -2.884         0.561          4.212          0              180            0
  50  Dresser         -4.041         -0.000         4.589          0              180            0
  51  Drawer          -4.916         1.014          4.311          0              180            0
  52  Drawer          -3.166         1.014          4.311          0              180            0
  53  Cabinet         -5.196         0.561          4.212          0              180            0
  54  Sofa            -0.705         -0.002         2.753          0              270            0
  55  NorthWall
  56  SouthWall
  57  SouthWall

Plan:
STEP 1: Turn around and cross the room to face the white shelves. | STEP 2: Pick the gold vase up from the shelf. | STEP 3: Move to the right and face the safe on the floor. | STEP 4: Put the gold vase in the safe and shut the door. | END