Task: Move the keys over to the sofa 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           -4.0           0.901          2.0            0              0              0
   1  Watch           -1.310         0.756          1.133          0              0              0              39
   2  Watch           -1.169         0.756          1.554          0              0              0              39
   3  Statue          -1.451         0.761          0.852          0              0              0              39
   4  CreditCard      -4.266         0.483          3.626          0              0              0              23
   5  Box             -2.014         0.867          0.993          0              270            0              39
   6  Statue          -2.202         0.847          6.832          0              0              0              36
   7  Watch           -2.808         0.066          6.699          0              0              0              27
   8  WateringCan     -0.208         -0.000         3.225          0              63.928         0
   9  Laptop          -1.683         0.747          1.489          0              338.703        0              39
  10  CreditCard      -1.873         0.841          6.832          0              0              0              36
  11  KeyChain        -1.310         0.756          1.414          0              0              0              39
  12  Pillow          -4.335         0.465          4.398          0              0              0              30
  13  RemoteControl   -2.647         0.403          3.551          0              0              0              29
  14  Curtains        -0.037         2.148          0.999          0              0              0
  15  Painting        -0.016         2.061          5.380          0              0              0
  16  GarbageCan      -0.256         -0.010         6.799          0              0              0
  17  FloorLamp       -4.721         -0.001         3.687          0              0              0
  18  Television      -3.192         1.184          6.767          0              180            0
  19  HousePlant      -0.173         0.610          3.994          0              0              0
  20  LightSwitch     -3.483         1.470          0.001          0              0              0
  21  DeskLamp        -0.258         0.611          3.312          0              0              0
  22  Window          -0.008         1.340          1.725          90             270            0
  23  SideTable       -4.190         0.000          3.587          0              0              0
  24  Drawer          -2.925         0.475          6.717          0              180            0
  25  Drawer          -3.476         0.475          6.717          0              180            0
  26  Dresser         -3.201         -0.001         6.791          0              180            0
  27  Drawer          -2.925         0.165          6.719          0              180            0
  28  Drawer          -3.476         0.165          6.719          0              180            0
  29  ArmChair        -2.448         0.002          3.501          0              0              0
  30  Sofa            -4.425         0.014          5.062          0              90             0
  31  Ottoman         -2.374         0.000          4.483          0              0              0
  32  Chair           -2.151         0.004          1.284          0              90             0
  33  Chair           -1.549         0.004          1.780          0              195.000        0
  34  Chair           -1.626         0.004          0.778          0              10.166         0
  35  Chair           -1.076         0.004          1.292          0              265.171        0
  36  SideTable       -2.071         0.000          6.699          0              0              0
  37  SideTable       -0.244         -0.000         3.524          0              270            0
  38  ArmChair        -3.545         0.005          3.579          0              0              0
  39  DiningTable     -1.592         0.006          1.274          0              0              0
  40  NorthWall
  41  SouthWall
  42  SouthWall

Plan:
STEP 1: Walk to the table behind you | STEP 2: Grab the keys off of the table | STEP 3: Walk to the other side of the table | STEP 4: Place the keys on the corner of the table | STEP 5: Put the keys in a cardboard box | STEP 6: Take the card board box, walk towards the sofa behind you | STEP 7: Place the card board box on the right side of the sofa | END