Task: Move keys to a box on the chair

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -3.0           0.901          0.5            0              180            0
   1  Statue          -2.005         0.847          6.765          0              0              0              40
   2  Statue          -1.451         0.761          0.852          0              0              0              43
   3  KeyChain        -3.593         0.068          6.723          0              0              0              32
   4  KeyChain        -1.310         0.756          1.695          0              0              0              43
   5  RemoteControl   -2.014         0.758          1.554          0              0              0              43
   6  RemoteControl   -4.300         0.480          5.556          0              0              0              34
   7  Box             -2.014         0.867          0.993          0              270            0              43
   8  Laptop          -4.300         0.486          5.094          0              0              0              34
   9  Box             -1.607         0.151          6.854          0              0              0              40
  10  Statue          -1.169         0.761          0.852          0              0              0              43
  11  Watch           -1.169         0.756          1.414          0              0              0              43
  12  WateringCan     -0.208         -0.000         3.225          0              63.928         0
  13  Laptop          -1.683         0.747          1.489          0              338.703        0              43
  14  CreditCard      -4.380         0.477          4.863          0              0              0              34
  15  KeyChain        -4.153         0.484          3.549          0              0              0              27
  16  Pillow          -4.335         0.465          4.398          0              0              0              34
  17  RemoteControl   -4.077         0.486          3.626          0              0              0              27
  18  Curtains        -0.037         2.148          0.999          0              0              0
  19  Painting        -0.016         2.061          5.380          0              0              0
  20  GarbageCan      -0.256         -0.010         6.799          0              0              0
  21  FloorLamp       -4.721         -0.001         3.687          0              0              0
  22  Television      -3.192         1.184          6.767          0              180            0
  23  HousePlant      -0.173         0.610          3.994          0              0              0
  24  LightSwitch     -3.483         1.470          0.001          0              0              0
  25  DeskLamp        -0.258         0.611          3.312          0              0              0
  26  Window          -0.008         1.340          1.725          90             270            0
  27  SideTable       -4.190         0.000          3.587          0              0              0
  28  Drawer          -2.925         0.475          6.717          0              180            0
  29  Drawer          -3.476         0.475          6.717          0              180            0
  30  Dresser         -3.201         -0.001         6.791          0              180            0
  31  Drawer          -2.925         0.165          6.719          0              180            0
  32  Drawer          -3.476         0.165          6.719          0              180            0
  33  ArmChair        -2.448         0.002          3.501          0              0              0
  34  Sofa            -4.425         0.014          5.062          0              90             0
  35  Ottoman         -2.374         0.000          4.483          0              0              0
  36  Chair           -2.151         0.004          1.284          0              90             0
  37  Chair           -1.549         0.004          1.780          0              195.000        0
  38  Chair           -1.626         0.004          0.778          0              10.166         0
  39  Chair           -1.076         0.004          1.292          0              265.171        0
  40  SideTable       -2.071         0.000          6.699          0              0              0
  41  SideTable       -0.244         -0.000         3.524          0              270            0
  42  ArmChair        -3.545         0.005          3.579          0              0              0
  43  DiningTable     -1.592         0.006          1.274          0              0              0
  44  NorthWall
  45  SouthWall
  46  SouthWall

Plan:
STEP 1: Turn right and move forward slightly then turn right and walk straight to the lamp | STEP 2: Pick up the keys from the table next to the lamp and sofa | STEP 3: Turn around and walk straight to the door then turn left and walk to the kitchen table with a box on it and face it | STEP 4: Place the keys in the box on the table | STEP 5: Pick up the box with the keys inside | STEP 6: Turn left walk straight slightly then turn right and walk to the red sofa chair and face it | STEP 7: Place the box on the seat cushion of the red chair | END