Task: To put the keys in a box.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           11.25          0.902          2.0            0              0              0
   1  Watch           14.092         0.142          1.448          0              0              0              38
   2  KeyChain        14.135         0.752          1.564          0              0              0              33
   3  KeyChain        10.651         0.591          0.771          0              0              0              40
   4  CreditCard      8.212          0.396          -0.203         0              90             0              51
   5  Pillow          11.020         0.528          3.081          0              0              0              48
   6  Pillow          11.448         0.528          3.155          0              0              0              48
   7  Book            9.692          0.430          3.288          0              0              0              41
   8  Box             9.305          0.679          3.288          0              0              0              41
   9  CreditCard      12.382         0.604          -1.139         0              90             0              46
  10  KeyChain        14.428         0.752          0.519          0              0              0              33
  11  Pillow          12.048         0.52           3.228          0              0              0              48
  12  Statue          14.233         0.761          2.086          0              0              0              33
  13  Laptop          11.232         0.588          0.956          0              0              0              40
  14  RemoteControl   14.623         0.757          1.825          0              0              0              33
  15  Watch           12.306         0.606          -1.301         0              90             0              46
  16  FloorLamp       7.864          0.006          3.396          0              0              0
  17  GarbageCan      7.785          -0.027         -1.145         0              0              0
  18  Painting        7.492          1.835          -0.495         90             270            0
  19  Painting        7.492          1.835          2.792          90             270            0
  20  Television      14.459         1.218          0.925          358.945        270            0
  21  LightSwitch     12.979         1.399          3.767          0              180            0
  22  Painting        7.492          1.779          1.116          90             270            0
  23  Painting        14.763         1.753          1.126          90             270            0
  24  HousePlant      11.374         0.467          -1.143         0              0              0
  25  Window          12.029         1.687          -1.595         90             180            0
  26  Window          10.227         1.687          -1.594         90             180            0
  27  Drawer          14.183         0.374          0.556          0              270            0
  28  Drawer          14.183         0.580          1.069          0              270            0
  29  Drawer          14.183         0.580          2.095          0              270            0
  30  Drawer          14.183         0.374          1.582          0              270            0
  31  Drawer          14.183         0.169          1.069          0              270            0
  32  Drawer          14.183         0.374          1.069          0              270            0
  33  Dresser         14.330         0.002          1.323          0              270            0
  34  Drawer          14.183         0.169          2.095          0              270            0
  35  Drawer          14.183         0.374          2.095          0              270            0
  36  Drawer          14.183         0.580          0.556          0              270            0
  37  Drawer          14.183         0.169          0.556          0              270            0
  38  Drawer          14.183         0.169          1.582          0              270            0
  39  Drawer          14.183         0.580          1.582          0              270            0
  40  CoffeeTable     10.821         -0.011         0.928          0              0              0
  41  ArmChair        9.499          0.001          3.265          0              180            0
  42  SideTable       11.377         0.001          -1.160         0              90             0
  43  SideTable       14.615         -0.001         -0.776         0              270            0
  44  SideTable       14.331         0.003          0.069          0              0              0
  45  SideTable       14.331         0.003          2.585          0              0              0
  46  SideTable       12.308         0.001          -1.154         0              0              0
  47  Chair           8.154          0.006          1.499          0              90             0
  48  Sofa            11.450         0.002          3.211          0              180            0
  49  Shelf           10.794         0.231          0.928          0              0              0
  50  ArmChair        8.231          0.006          0.769          0              90             0
  51  ArmChair        8.224          0.006          -0.082         0              90             0
  52  NorthWall
  53  EastWall
  54  SouthWall
  55  WestWall

Plan:
STEP 1: Turn around and take one step, then turn left and walk across the room | STEP 2: Pick up the keys on the edge of the table.  | STEP 3: Turn around and walk across the room, then turn right and walk across the room, then turn right.  | STEP 4: Place the keys in the empty box on the couch.  | STEP 5: Pick up the box on the couch.  | STEP 6: Turn right and take two steps, then turn left and walk to the end of the coffee table, then turn left and walk across the room.  | STEP 7: Put the box down on the table in front of the television.  | END