Task: Put a box with keys onto the chair

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -3.25          0.906          2.0            0              0              0
   1  Watch           -0.553         0.765          3.128          0              270            0              38
   2  Newspaper       -0.403         0.763          2.978          0              270            0              38
   3  Newspaper       -0.253         0.763          2.678          0              270            0              38
   4  RemoteControl   -0.328         0.766          2.828          0              270            0              38
   5  Box             -2.111         0.293          2.930          0              0              0              31
   6  CreditCard      -2.618         0.396          4.412          0              0              0              41
   7  TissueBox       -0.178         0.766          2.978          0              270            0              38
   8  Laptop          -0.335         0.758          2.38           0              33.790         0              38
   9  Vase            -2.880         1.518          0.144          0              0              0
  10  RemoteControl   -1.816         0.196          2.643          0              0              0              31
  11  Pillow          -1.379         0.479          4.520          0              0              0              41
  12  KeyChain        -2.865         0.419          4.570          0              0              0              41
  13  Watch           -0.499         0.183          2.363          0              270            0              37
  14  Newspaper       -1.816         0.197          2.872          0              0              0              31
  15  Statue          -0.439         0.173          2.652          0              270            0              36
  16  Statue          -0.178         0.775          3.128          0              0              0              38
  17  Curtains        -1.030         2.113          0.0            0              0              0
  18  Curtains        -3.927         2.113          0.0            0              0              0
  19  HousePlant      -3.127         1.507          0.118          0              0              0
  20  Television      0.0            1.376          2.661          0              270            0
  21  GarbageCan      -0.227         0.005          4.778          0              0              0
  22  DeskLamp        -4.658         0.508          3.318          0              270            0
  23  Painting        -2.507         1.817          0.108          90             0              0
  24  FloorLamp       -4.596         0.006          0.399          0              65.211         0
  25  LightSwitch     -3.233         1.343          5.0            0              180            0
  26  Window          -1.011         1.391          0.029          90             180            0
  27  Window          -3.900         1.391          0.029          90             180            0
  28  Drawer          -4.433         0.473          3.344          0              90             0
  29  SideTable       -4.612         0.009          3.346          0              90             0
  30  Chair           -4.572         0.005          3.862          0              113.899        0
  31  CoffeeTable     -1.972         0.002          2.615          0              270            0
  32  ArmChair        -0.875         0.005          0.566          0              0              0
  33  Shelf           -0.340         0.480          3.046          0              270            0
  34  Shelf           -0.340         0.649          3.046          0              270            0
  35  Shelf           -0.340         0.603          2.312          0              270            0
  36  Shelf           -0.340         0.448          2.678          0              270            0
  37  Shelf           -0.340         0.308          2.312          0              270            0
  38  TVStand         -0.335         0.005          2.679          0              270            0
  39  Shelf           -0.340         0.279          3.046          0              270            0
  40  Sofa            -4.566         0.009          1.880          0              90             0
  41  Sofa            -2.124         0.009          4.558          0              180            0
  42  NorthWall
  43  SouthWall
  44  SouthWall

Plan:
STEP 1: Walk over to the dark sofa | STEP 2: Pick up the keys from the sofa | STEP 3: Turn around and approach the small white coffee table | STEP 4: Put the keys into the box on the coffee table | STEP 5: Pick up the box from the table | STEP 6: Walk over to the chair to the left of the fireplace | STEP 7: Put the box on the chair | END