Task: Place a cardboard box with keys in it 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           -5.5           0.927          4.75           0              0              0
   1  Newspaper       -1.493         0.484          0.264          0              90             0              38
   2  CreditCard      -0.710         1.274          0.149          0              180            0              50
   3  CreditCard      -3.044         0.166          0.206          0              0              0              47
   4  Box             -5.571         0.823          3.617          0              0              0              71
   5  Box             -2.738         0.481          1.886          0              270            0              75
   6  Statue          -6.589         1.022          5.172          0              180            0              32
   7  KeyChain        -3.007         0.301          1.932          0              0              0              75
   8  Vase            -1.701         0.930          0.179          0              0              0              26
   9  Vase            -0.764         0.940          0.203          0              0              0              43
  10  Vase            -5.480         0.401          5.205          0              0              0              34
  11  Newspaper       -5.817         0.641          3.617          0              0              0              71
  12  CreditCard      -2.553         0.300          2.206          0              0              0              75
  13  RemoteControl   -0.911         0.167          0.282          0              0              0              38
  14  Laptop          -5.764         0.634          2.376          0              0              0              71
  15  Pillow          -1.515         0.438          3.319          0              300.000        90             74
  16  Vase            -1.405         0.956          0.184          0              180            0              43
  17  Statue          -1.843         0.950          0.184          0              0              0              26
  18  Vase            -1.352         1.258          0.228          0              0              0              50
  19  Plate           -6.062         0.648          1.861          0              0              0              71
  20  Vase            -4.360         1.587          5.136          0              0              0              33
  21  Statue          -5.033         1.566          5.212          0              180            0              53
  22  Statue          -0.812         1.565          0.209          0              0              0              45
  23  Statue          -3.851         0.930          5.169          0              0              0              31
  24  Statue          -3.174         1.105          5.193          0              0              0              54
  25  Statue          -5.865         0.634          2.786          0              65.579         0              71
  26  Shelf           -1.776         0.988          0.184          0              180            0
  27  Chair           -5.413         0.024          1.780          0              0              0
  28  Cabinet         -5.365         1.170          5.031          0              0              0
  29  Chair           -5.388         0.024          3.369          0              355.695        0
  30  Chair           -6.211         0.024          2.517          0              172.601        0
  31  Shelf           -3.937         0.988          5.170          0              0              0
  32  Shelf           -6.572         1.144          5.170          0              0              0
  33  Cabinet         -4.181         1.873          5.029          0              0              0
  34  Shelf           -5.606         0.444          5.170          0              0              0
  35  Drawer          -6.324         0.823          5.001          0              0              0
  36  Cabinet         -2.017         1.714          0.323          0              180            0
  37  Cabinet         -2.465         1.329          5.029          0              0              0
  38  Drawer          -1.093         0.233          0.462          0              0              0
  39  Shelf           -4.672         1.317          5.170          0              0              0
  40  Shelf           -4.672         0.998          5.170          0              0              0
  41  Shelf           -2.221         0.444          5.170          0              0              0
  42  Drawer          -6.324         0.508          5.001          0              0              0
  43  Shelf           -1.041         0.998          0.184          0              180            0
  44  Drawer          -4.264         0.233          0.462          0              0              0
  45  Shelf           -0.810         1.688          0.185          0              180            0
  46  Shelf           -2.671         0.610          0.272          0              90             0
  47  Drawer          -2.681         0.233          0.462          0              0              0
  48  Drawer          -2.940         0.508          5.001          0              0              0
  49  Cabinet         -3.696         1.714          5.031          0              0              0
  50  Shelf           -1.041         1.317          0.184          0              180            0
  51  Cabinet         -1.532         1.873          0.325          0              180            0
  52  Chair           -5.382         0.024          2.695          0              6.230          0
  53  Shelf           -4.903         1.688          5.170          0              0              0
  54  Shelf           -3.187         1.144          5.170          0              0              0
  55  Drawer          -2.940         0.823          5.001          0              0              0
  56  Chair           -6.252         0.024          3.427          0              195.000        0
  57  Cabinet         -5.850         1.329          5.029          0              0              0
  58  Cabinet         -1.980         1.170          5.031          0              0              0
  59  Chair           -6.296         0.024          1.672          0              180            0
  60  FloorLamp       -0.369         0.016          4.992          0              59.992         0
  61  GarbageCan      -6.846         0.024          0.258          0              91.057         0
  62  Television      -3.503         1.506          0.001          0              0              0
  63  LightSwitch     0.0            1.184          4.410          0              270            0
  64  HousePlant      -1.105         0.315          2.740          0              0              0
  65  Painting        -5.769         1.394          -0.026         90             180            0
  66  Window          0.001          1.246          2.471          90             270            0
  67  Window          0.001          1.246          3.558          90             270            0
  68  Window          0.001          1.246          1.368          90             270            0
  69  Painting        -0.967         1.396          5.268          90             180            0
  70  CoffeeTable     -3.002         0.028          1.726          0              0              0
  71  DiningTable     -5.816         0.025          2.563          0              270            0
  72  Sofa            -3.328         0.023          3.632          0              180            0
  73  ArmChair        -1.012         0.028          2.084          0              270            0
  74  ArmChair        -1.577         0.028          3.295          0              210.000        0
  75  CoffeeTable     -2.667         0.025          1.999          0              5.810          0
  76  NorthWall
  77  EastWall
  78  SouthWall
  79  WestWall

Plan:
STEP 1: Turn around and then walk left until you are at a coffee table | STEP 2: Pick up the keys off of the table | STEP 3: Turn right and then turn to your left twice so that you are facing the table again | STEP 4: Drop the keys into the empty cardboard box on the table | STEP 5: Pick up the cardboard box off of the table | STEP 6: Turn left then walk right, turn right again and then face to your left so you are looking at the sofa | STEP 7: Place the cardboard box on the right cushion of the sofa | END