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           -0.5           0.893          3.5            0              90             0
   1  Plate           -1.672         0.839          1.295          0              0              0              43
   2  Plate           -3.893         0.658          4.120          0              0              0              38
   3  Statue          -1.672         0.827          0.989          0              0              0              43
   4  Statue          -4.104         0.647          4.120          0              0              0              38
   5  Newspaper       -0.886         0.828          1.119          0              37.188         0              43
   6  KeyChain        -4.135         0.433          2.390          0              0              0              42
   7  CreditCard      -1.811         0.821          1.142          0              0              0              43
   8  CreditCard      -1.396         0.821          1.649          0              90             0              43
   9  Box             -1.223         1.013          1.309          0              63.501         0              43
  10  Laptop          -1.395         0.820          2.051          0              90             0              43
  11  Box             -4.009         0.613          2.705          0              0              0              42
  12  KeyChain        -1.658         0.823          1.766          0              243.502        0              43
  13  Newspaper       -5.245         0.472          1.723          0              0              0              44
  14  CreditCard      -1.977         0.821          1.285          0              164.379        0              43
  15  RemoteControl   -4.135         0.433          2.883          0              0              0              42
  16  Laptop          -3.955         0.424          2.020          0              346.095        0              42
  17  Plate           -2.494         0.642          4.666          0              0              0              35
  18  Pillow          -4.161         0.542          0.575          0              0              0              39
  19  Statue          -3.682         0.647          4.235          0              0              0              38
  20  Vase            -1.396         0.824          0.989          0              0              0              43
  21  Watch           -3.576         0.641          4.806          0              0              0              38
  22  Television      -3.794         1.152          4.554          0              180            0
  23  GarbageCan      -0.264         -0.040         4.728          0              271.354        0
  24  FloorLamp       -5.663         -0.010         4.679          0              315            0
  25  HousePlant      -5.703         0.596          3.938          0              0              0
  26  LightSwitch     0.0            1.292          3.378          0              270            0
  27  Painting        -4.156         1.656          -0.002         90             180            0
  28  Painting        -1.623         1.565          -0.002         90             180            0
  29  Window          -6.040         1.550          2.102          90             270            0
  30  Window          -6.040         1.531          0.859          90             270            0
  31  Window          -6.040         1.531          4.236          90             270            0
  32  Chair           -0.667         -0.006         0.656          0              321.278        0
  33  Chair           -1.932         -0.006         2.413          0              154.294        0
  34  SideTable       -4.928         -0.002         0.272          0              27.993         0
  35  SideTable       -2.561         -0.002         4.623          0              180            0
  36  Drawer          -2.560         0.532          4.446          0              180            0
  37  SideTable       -5.676         -0.002         3.949          0              0              0
  38  SideTable       -3.793         0.013          4.463          0              0              0
  39  Sofa            -3.540         -0.020         0.460          0              0              0
  40  Chair           -5.146         -0.001         0.817          0              53.761         0
  41  Chair           -0.354         -0.006         1.654          0              261.279        0
  42  CoffeeTable     -4.003         -0.007         2.454          0              270            0
  43  DiningTable     -1.395         -0.006         1.447          0              0              0
  44  Sofa            -5.470         0.007          2.504          0              90             0
  45  NorthWall
  46  EastWall
  47  SouthWall
  48  WestWall

Plan:
STEP 1: Turn right walk across the room past the center table turn left facing the table | STEP 2: Pick up the keys on the center table | STEP 3: Move a little closer to the box at the table | STEP 4: Put the keys in the box | STEP 5: Pick up the box with keys | STEP 6: Turn right face the sofa  | STEP 7: Put the box with keys on the sofa close to the newspaper | END