Task: Put the box with keys 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           -1.5           0.893          3.5            0              0              0
   1  Newspaper       -1.990         0.828          1.330          0              164.379        0              42
   2  Vase            -4.060         0.434          2.883          0              0              0              41
   3  Watch           -3.984         0.432          2.225          0              0              0              41
   4  CreditCard      -3.788         0.641          4.691          0              0              0              37
   5  CreditCard      -4.211         0.431          2.719          0              0              0              41
   6  RemoteControl   -0.942         0.823          1.046          0              37.188         0              42
   7  RemoteControl   -2.761         0.626          4.666          0              0              0              34
   8  Box             -3.909         0.623          2.061          0              0              0              41
   9  Laptop          -3.682         0.639          4.235          0              0              0              37
  10  Box             -4.009         0.613          2.705          0              0              0              41
  11  KeyChain        -1.665         0.823          1.988          0              63.501         0              42
  12  Newspaper       -1.534         0.828          1.142          0              0              0              42
  13  CreditCard      -2.682         0.516          4.633          0              0              0              35
  14  RemoteControl   -5.245         0.467          3.128          0              0              0              43
  15  Laptop          -1.119         0.82           1.448          0              0              0              42
  16  Plate           -0.792         0.839          1.448          0              0              0              42
  17  Pillow          -4.161         0.542          0.575          0              0              0              38
  18  Statue          -1.174         0.827          1.108          0              63.501         0              42
  19  Vase            -1.221         0.824          1.810          0              115.696        0              42
  20  Watch           -2.742         0.516          4.562          0              0              0              35
  21  Television      -3.794         1.152          4.554          0              180            0
  22  GarbageCan      -0.264         -0.040         4.728          0              271.354        0
  23  FloorLamp       -5.663         -0.010         4.679          0              315            0
  24  HousePlant      -5.703         0.596          3.938          0              0              0
  25  LightSwitch     0.0            1.292          3.378          0              270            0
  26  Painting        -4.156         1.656          -0.002         90             180            0
  27  Painting        -1.623         1.565          -0.002         90             180            0
  28  Window          -6.040         1.550          2.102          90             270            0
  29  Window          -6.040         1.531          0.859          90             270            0
  30  Window          -6.040         1.531          4.236          90             270            0
  31  Chair           -0.667         -0.006         0.656          0              321.278        0
  32  Chair           -1.932         -0.006         2.413          0              154.294        0
  33  SideTable       -4.928         -0.002         0.272          0              27.993         0
  34  SideTable       -2.561         -0.002         4.623          0              180            0
  35  Drawer          -2.560         0.532          4.446          0              180            0
  36  SideTable       -5.676         -0.002         3.949          0              0              0
  37  SideTable       -3.793         0.013          4.463          0              0              0
  38  Sofa            -3.540         -0.020         0.460          0              0              0
  39  Chair           -5.146         -0.001         0.817          0              53.761         0
  40  Chair           -0.354         -0.006         1.654          0              261.279        0
  41  CoffeeTable     -4.003         -0.007         2.454          0              270            0
  42  DiningTable     -1.395         -0.006         1.447          0              0              0
  43  Sofa            -5.470         0.007          2.504          0              90             0
  44  NorthWall
  45  EastWall
  46  SouthWall
  47  WestWall

Plan:
STEP 1: Turn left move forward then turn left facing the round table | STEP 2: Pick up the keys on the round table | STEP 3: Turn right and walk forward then face the center table on the left side of it | STEP 4: Put the keys in the box | STEP 5: Pick up the box with keys | STEP 6: Turn left then turn right move forward and face the sofa | STEP 7: Put the box with keys on the sofa | END