Task: Put a box on the couch and put the keys in it

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           1.0            0.900          0.0            0              270            0
   1  Newspaper       -0.711         0.550          -0.192         0              270            0              31
   2  KeyChain        1.364          0.326          -0.818         0              90             0              39
   3  KeyChain        -0.841         0.202          -0.577         0              90             0              32
   4  CreditCard      -0.711         0.551          -0.106         0              270            0              31
   5  RemoteControl   -0.712         0.553          -0.623         0              270            0              31
   6  RemoteControl   1.443          0.321          -0.742         0              0              0              39
   7  Box             1.724          0.202          0.44           0              9.539          0              39
   8  KeyChain        -0.582         0.038          -0.480         0              270            0              26
   9  Watch           -0.453         0.040          -0.512         0              90             0              32
  10  Newspaper       1.849          0.868          0.326          0              90             0              37
  11  Pillow          0.151          0.561          -1.794         0              0              45             33
  12  CreditCard      -0.411         0.551          -0.451         0              270            0              31
  13  RemoteControl   1.766          0.871          0.643          0              90             0              37
  14  Laptop          -0.981         0.530          -0.37          0              33.821         0              31
  15  Statue          -0.966         1.669          -2.3           0              0              0              31
  16  Statue          0.014          1.595          -2.3           0              0              0              31
  17  GarbageCan      -2.555         0.011          0.734          1.547          90             356.583
  18  LightSwitch     0.405          1.373          -2.400         0              0              0
  19  FloorLamp       1.728          -0.004         -2.084         0              13.085         0
  20  HousePlant      -0.561         0.549          -0.352         0              0              0
  21  Painting        1.909          1.457          0.300          90             270            0
  22  Television      -2.319         1.736          -1.994         0              45             0
  23  Window          -2.009         1.524          1.031          90             0              0
  24  Window          -0.432         1.524          1.031          90             0              0
  25  Window          -2.828         1.511          -0.025         90             270            0
  26  Drawer          -0.711         0.077          -0.556         0              180            0
  27  Drawer          -0.711         0.077          -0.173         0              180            0
  28  Drawer          -0.711         0.395          -0.173         0              180            0
  29  Drawer          -0.711         0.236          -0.173         0              180            0
  30  Drawer          -0.711         0.395          -0.556         0              180            0
  31  CoffeeTable     -0.711         0.002          -0.364         0              180            0
  32  Drawer          -0.716         0.236          -0.556         0              180            0
  33  Sofa            -0.500         0.008          -1.886         0              0              0
  34  Blinds          -0.395         2.135          0.922          0              0              0
  35  Blinds          -2.736         2.135          0.002          0              270            0
  36  Blinds          -2.0           2.135          0.922          0              0              0
  37  SideTable       1.807          0.000          0.326          0              270            0
  38  Drawer          1.743          0.774          0.325          0              270            0
  39  ArmChair        1.509          0.000          -0.588         0              270            0
  40  NorthWall
  41  EastWall
  42  SouthWall
  43  WestWall

Plan:
STEP 1: Turn right, go forward a bit, turn right and go to the desk | STEP 2: Pick up the box under the desk | STEP 3: Turn around, go forward a bit, turn around, go forward, turn right, go forward, turn left in front of the couch | STEP 4: Put the box on the couch | STEP 5: Turn left, go to the wall, turn right | STEP 6: Pick up the keys on the chair | STEP 7: Turn left, go forward, turn left in front of the couch | STEP 8: Put the keys into the box on the couch | END