Task: Place a box with keys inside 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           -2.0           0.927          1.5            0              270            0
   1  Newspaper       -5.939         0.641          3.617          0              0              0              70
   2  KeyChain        -3.732         0.278          3.451          0              0              0              71
   3  Box             -6.062         0.823          1.510          0              0              0              70
   4  Box             -2.806         0.481          2.000          0              270            0              74
   5  Statue          -6.589         1.022          5.172          0              180            0              31
   6  KeyChain        -2.154         0.398          5.134          0              180            0              40
   7  Vase            -1.701         0.930          0.179          0              0              0              25
   8  Vase            -0.764         0.940          0.203          0              0              0              42
   9  Vase            -2.321         0.727          5.168          0              0              0              57
  10  Newspaper       -4.540         1.273          5.134          0              0              0              38
  11  CreditCard      -3.530         0.286          3.312          0              0              0              71
  12  RemoteControl   -3.100         0.184          1.601          0              325.579        0              69
  13  Laptop          -5.939         0.639          3.266          0              0              0              70
  14  Pillow          -1.515         0.438          3.319          0              300.000        90             73
  15  Vase            -4.540         0.956          5.134          0              0              0              39
  16  Statue          -0.941         1.284          0.149          0              0              0              49
  17  Vase            -1.352         1.258          0.228          0              0              0              49
  18  Plate           -5.572         0.634          1.699          0              0              0              70
  19  Vase            -4.958         0.940          5.201          0              0              0              39
  20  Statue          -5.033         1.566          5.212          0              180            0              52
  21  Statue          -0.812         1.565          0.209          0              0              0              44
  22  Statue          -3.851         0.930          5.169          0              0              0              30
  23  Statue          -3.174         1.105          5.193          0              0              0              53
  24  Statue          -5.865         0.634          2.786          0              65.579         0              70
  25  Shelf           -1.776         0.988          0.184          0              180            0
  26  Chair           -5.413         0.024          1.780          0              0              0
  27  Cabinet         -5.365         1.170          5.031          0              0              0
  28  Chair           -5.388         0.024          3.369          0              355.695        0
  29  Chair           -6.211         0.024          2.517          0              172.601        0
  30  Shelf           -3.937         0.988          5.170          0              0              0
  31  Shelf           -6.572         1.144          5.170          0              0              0
  32  Cabinet         -4.181         1.873          5.029          0              0              0
  33  Shelf           -5.606         0.444          5.170          0              0              0
  34  Drawer          -6.324         0.823          5.001          0              0              0
  35  Cabinet         -2.017         1.714          0.323          0              180            0
  36  Cabinet         -2.465         1.329          5.029          0              0              0
  37  Drawer          -1.093         0.233          0.462          0              0              0
  38  Shelf           -4.672         1.317          5.170          0              0              0
  39  Shelf           -4.672         0.998          5.170          0              0              0
  40  Shelf           -2.221         0.444          5.170          0              0              0
  41  Drawer          -6.324         0.508          5.001          0              0              0
  42  Shelf           -1.041         0.998          0.184          0              180            0
  43  Drawer          -4.264         0.233          0.462          0              0              0
  44  Shelf           -0.810         1.688          0.185          0              180            0
  45  Shelf           -2.671         0.610          0.272          0              90             0
  46  Drawer          -2.681         0.233          0.462          0              0              0
  47  Drawer          -2.940         0.508          5.001          0              0              0
  48  Cabinet         -3.696         1.714          5.031          0              0              0
  49  Shelf           -1.041         1.317          0.184          0              180            0
  50  Cabinet         -1.532         1.873          0.325          0              180            0
  51  Chair           -5.382         0.024          2.695          0              6.230          0
  52  Shelf           -4.903         1.688          5.170          0              0              0
  53  Shelf           -3.187         1.144          5.170          0              0              0
  54  Drawer          -2.940         0.823          5.001          0              0              0
  55  Chair           -6.252         0.024          3.427          0              195.000        0
  56  Cabinet         -5.850         1.329          5.029          0              0              0
  57  Cabinet         -1.980         1.170          5.031          0              0              0
  58  Chair           -6.296         0.024          1.672          0              180            0
  59  FloorLamp       -0.369         0.016          4.992          0              59.992         0
  60  GarbageCan      -6.846         0.024          0.258          0              91.057         0
  61  Television      -3.503         1.506          0.001          0              0              0
  62  LightSwitch     0.0            1.184          4.410          0              270            0
  63  HousePlant      -1.105         0.315          2.740          0              0              0
  64  Painting        -5.769         1.394          -0.026         90             180            0
  65  Window          0.001          1.246          2.471          90             270            0
  66  Window          0.001          1.246          3.558          90             270            0
  67  Window          0.001          1.246          1.368          90             270            0
  68  Painting        -0.967         1.396          5.268          90             180            0
  69  CoffeeTable     -3.002         0.028          1.726          0              0              0
  70  DiningTable     -5.816         0.025          2.563          0              270            0
  71  Sofa            -3.328         0.023          3.632          0              180            0
  72  ArmChair        -1.012         0.028          2.084          0              270            0
  73  ArmChair        -1.577         0.028          3.295          0              210.000        0
  74  CoffeeTable     -2.667         0.025          1.999          0              5.810          0
  75  NorthWall
  76  EastWall
  77  SouthWall
  78  WestWall

Plan:
STEP 1: Turn right and walk past the coffee table to stand in front of the leftmost cushion of the sofa. | STEP 2: Pick up the keys from the sofa. | STEP 3: Turn around and carry the keys to the coffee table, so you're facing the table and the sofa is to your left. | STEP 4: Place the keys in the open box on the coffee table. | STEP 5: Pick up the box with the keys in it from the table. | STEP 6: Carry the box to stand facing the center point of the sofa. | STEP 7: Place the box on the right cushion of the sofa. | END