Task: place a box with keys in it on the right side of the red couch

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -4.75          0.901          1.75           0              0              0
   1  Statue          -2.014         0.761          1.695          0              0              0              40
   2  KeyChain        -2.014         0.756          1.414          0              0              0              40
   3  CreditCard      -4.461         0.478          5.094          0              0              0              31
   4  RemoteControl   -4.300         0.481          4.631          0              0              0              31
   5  RemoteControl   -4.139         0.480          5.325          0              0              0              31
   6  Box             -1.607         0.151          6.854          0              0              0              37
   7  Statue          -1.310         0.761          0.993          0              0              0              40
   8  Watch           -4.115         0.484          3.626          0              0              0              24
   9  WateringCan     -0.208         -0.000         3.225          0              63.928         0
  10  Laptop          -1.310         0.753          1.414          0              90             0              40
  11  CreditCard      -1.732         0.755          1.133          0              0              0              40
  12  KeyChain        -1.310         0.756          1.133          0              90             0              40
  13  Pillow          -4.335         0.465          4.398          0              0              0              31
  14  RemoteControl   -3.604         0.399          3.628          0              0              0              39
  15  Curtains        -0.037         2.148          0.999          0              0              0
  16  Painting        -0.016         2.061          5.380          0              0              0
  17  GarbageCan      -0.256         -0.010         6.799          0              0              0
  18  FloorLamp       -4.721         -0.001         3.687          0              0              0
  19  Television      -3.192         1.184          6.767          0              180            0
  20  HousePlant      -0.173         0.610          3.994          0              0              0
  21  LightSwitch     -3.483         1.470          0.001          0              0              0
  22  DeskLamp        -0.258         0.611          3.312          0              0              0
  23  Window          -0.008         1.340          1.725          90             270            0
  24  SideTable       -4.190         0.000          3.587          0              0              0
  25  Drawer          -2.925         0.475          6.717          0              180            0
  26  Drawer          -3.476         0.475          6.717          0              180            0
  27  Dresser         -3.201         -0.001         6.791          0              180            0
  28  Drawer          -2.925         0.165          6.719          0              180            0
  29  Drawer          -3.476         0.165          6.719          0              180            0
  30  ArmChair        -2.448         0.002          3.501          0              0              0
  31  Sofa            -4.425         0.014          5.062          0              90             0
  32  Ottoman         -2.374         0.000          4.483          0              0              0
  33  Chair           -2.151         0.004          1.284          0              90             0
  34  Chair           -1.549         0.004          1.780          0              195.000        0
  35  Chair           -1.626         0.004          0.778          0              10.166         0
  36  Chair           -1.076         0.004          1.292          0              265.171        0
  37  SideTable       -2.071         0.000          6.699          0              0              0
  38  SideTable       -0.244         -0.000         3.524          0              270            0
  39  ArmChair        -3.545         0.005          3.579          0              0              0
  40  DiningTable     -1.592         0.006          1.274          0              0              0
  41  NorthWall
  42  SouthWall
  43  SouthWall

Plan:
STEP 1: turn right and move to the end of the room, then hang a left and move to the that end of the room, turn left and face the black table | STEP 2: pick up the cardboard box on the floor in front of the black table | STEP 3: turn left and move to the red couch on the right side of the room | STEP 4: place the cardboard box on the couch | STEP 5: turn around and walk nearly to the end of the room, then turn right and walk to the table near the end of the room, approach the right side of the table and face it | STEP 6: grab the keys off of the table there | STEP 7: turn left and find your way around all the objects in the room to get back to the couch on the left side of the room  | STEP 8: place the keys in the box on the right side of the couch and close the box | END