Task: Put the keys in with the box on the sofa.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.5           0.900          0.25           0              90             0
   1  Watch           1.849          0.870          0.114          0              90             0              36
   2  Newspaper       1.849          0.869          0.431          0              90             0              36
   3  KeyChain        -0.5           0.321          -1.990         0              90             0              32
   4  KeyChain        -1.163         0.553          -0.106         0              0              0              30
   5  CreditCard      -0.841         0.357          -0.609         0              90             0              29
   6  Box             1.724          0.202          0.44           0              9.539          0              38
   7  KeyChain        1.601          0.279          -0.435         0              0              0              38
   8  Watch           -0.561         0.552          -0.106         0              270            0              30
   9  Newspaper       -0.711         0.292          -1.917         0              0              0              32
  10  Pillow          0.151          0.561          -1.794         0              0              45             32
  11  CreditCard      -0.411         0.551          -0.451         0              270            0              30
  12  RemoteControl   -0.453         0.358          -0.544         0              90             0              29
  13  Laptop          -0.981         0.530          -0.37          0              33.821         0              30
  14  Statue          1.682          0.880          0.220          0              90             0              36
  15  Statue          -0.260         0.562          -0.451         0              90             0              30
  16  GarbageCan      -2.555         0.011          0.734          1.547          90             356.583
  17  LightSwitch     0.405          1.373          -2.400         0              0              0
  18  FloorLamp       1.728          -0.004         -2.084         0              13.085         0
  19  HousePlant      -0.561         0.549          -0.352         0              0              0
  20  Painting        1.909          1.457          0.300          90             270            0
  21  Television      -2.319         1.736          -1.994         0              45             0
  22  Window          -2.009         1.524          1.031          90             0              0
  23  Window          -0.432         1.524          1.031          90             0              0
  24  Window          -2.828         1.511          -0.025         90             270            0
  25  Drawer          -0.711         0.077          -0.556         0              180            0
  26  Drawer          -0.711         0.077          -0.173         0              180            0
  27  Drawer          -0.711         0.395          -0.173         0              180            0
  28  Drawer          -0.711         0.236          -0.173         0              180            0
  29  Drawer          -0.711         0.395          -0.556         0              180            0
  30  CoffeeTable     -0.711         0.002          -0.364         0              180            0
  31  Drawer          -0.716         0.236          -0.556         0              180            0
  32  Sofa            -0.500         0.008          -1.886         0              0              0
  33  Blinds          -0.395         2.135          0.922          0              0              0
  34  Blinds          -2.736         2.135          0.002          0              270            0
  35  Blinds          -2.0           2.135          0.922          0              0              0
  36  SideTable       1.807          0.000          0.326          0              270            0
  37  Drawer          1.743          0.774          0.325          0              270            0
  38  ArmChair        1.509          0.000          -0.588         0              270            0
  39  NorthWall
  40  EastWall
  41  SouthWall
  42  WestWall

Plan:
STEP 1: Go to the end table in front across the room. | STEP 2: Pick up the empty box under the table. | STEP 3: Turn around and go to the right front side of the sofa with a checkered cushion. | STEP 4: Place the empty box on the sofa seat. | STEP 5: Move over left and face the sofa. | STEP 6: Pick up the keys on the sofa seat next to the box. | STEP 7: Move over right to the front of the box. | STEP 8: Place the keys in the box and close the box. | END