Task: Place the keys in the box 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           -2.75          0.901          1.75           0              270            0
   1  Watch           -3.104         0.376          6.772          0              0              0              24
   2  Watch           -2.071         0.842          6.498          0              0              0              36
   3  CreditCard      -2.927         0.067          6.674          0              0              0              27
   4  Laptop          -1.732         0.753          0.993          0              0              0              39
   5  Box             -1.732         0.867          1.554          0              90             0              39
   6  Statue          -1.451         0.761          1.554          0              0              0              39
   7  Watch           -1.592         0.756          1.554          0              0              0              39
   8  WateringCan     -0.208         -0.000         3.225          0              63.928         0
   9  Laptop          -2.005         0.839          6.765          0              0              0              36
  10  CreditCard      -4.219         0.484          5.094          0              0              0              30
  11  KeyChain        -4.461         0.479          5.094          0              0              0              30
  12  Pillow          -4.335         0.465          4.398          0              0              0              30
  13  RemoteControl   -4.300         0.487          4.863          0              0              0              30
  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: Turn right towards the sofa, turn right towards the edge of the sofa, turn left towards the middle of the room, then turn left towards the sofa with the pillow. | STEP 2: Pick up the keys from the sofa. | STEP 3: Turn around, head towards the fireplace, then turn right towards the table. | STEP 4: Place the keys in the box on the table. | STEP 5: Pick up the box from the table. | STEP 6: Turn around, head towards the middle of the living room, then turn left towards the big sofa. | STEP 7: Place the box to the right of the credit card on the sofa. | END