Task: Place a box with keys in it on the coffee table.

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           -1.534         0.839          1.828          0              63.501         0              41
   2  Statue          -0.801         0.827          1.565          0              164.379        0              41
   3  Vase            -3.788         0.644          4.691          0              0              0              36
   4  Vase            -4.060         0.434          2.225          0              0              0              40
   5  Watch           -3.909         0.432          2.061          0              0              0              40
   6  Watch           -3.576         0.641          4.691          0              0              0              36
   7  RemoteControl   -2.440         0.517          4.633          0              270            0              34
   8  RemoteControl   -2.427         0.626          4.605          0              0              0              33
   9  Box             -2.627         0.817          4.786          0              0              0              33
  10  KeyChain        -5.326         0.465          3.128          0              0              0              42
  11  Newspaper       -3.682         0.648          4.349          0              0              0              36
  12  CreditCard      -2.621         0.516          4.633          0              0              0              34
  13  RemoteControl   -3.833         0.433          1.896          0              0              0              40
  14  Laptop          -5.245         0.475          2.191          0              0              0              42
  15  Plate           -1.424         0.839          1.411          0              37.188         0              41
  16  Pillow          -4.161         0.542          0.575          0              0              0              37
  17  Statue          -3.984         0.437          1.896          0              0              0              40
  18  Vase            -1.202         0.824          1.391          0              16.180         0              41
  19  Watch           -2.440         0.516          4.562          0              90             0              34
  20  Television      -3.794         1.152          4.554          0              180            0
  21  GarbageCan      -0.264         -0.040         4.728          0              271.354        0
  22  FloorLamp       -5.663         -0.010         4.679          0              315            0
  23  HousePlant      -5.703         0.596          3.938          0              0              0
  24  LightSwitch     0.0            1.292          3.378          0              270            0
  25  Painting        -4.156         1.656          -0.002         90             180            0
  26  Painting        -1.623         1.565          -0.002         90             180            0
  27  Window          -6.040         1.550          2.102          90             270            0
  28  Window          -6.040         1.531          0.859          90             270            0
  29  Window          -6.040         1.531          4.236          90             270            0
  30  Chair           -0.667         -0.006         0.656          0              321.278        0
  31  Chair           -1.932         -0.006         2.413          0              154.294        0
  32  SideTable       -4.928         -0.002         0.272          0              27.993         0
  33  SideTable       -2.561         -0.002         4.623          0              180            0
  34  Drawer          -2.560         0.532          4.446          0              180            0
  35  SideTable       -5.676         -0.002         3.949          0              0              0
  36  SideTable       -3.793         0.013          4.463          0              0              0
  37  Sofa            -3.540         -0.020         0.460          0              0              0
  38  Chair           -5.146         -0.001         0.817          0              53.761         0
  39  Chair           -0.354         -0.006         1.654          0              261.279        0
  40  CoffeeTable     -4.003         -0.007         2.454          0              270            0
  41  DiningTable     -1.395         -0.006         1.447          0              0              0
  42  Sofa            -5.470         0.007          2.504          0              90             0
  43  NorthWall
  44  EastWall
  45  SouthWall
  46  WestWall

Plan:
STEP 1: Turn around and cross the room to stand between the coffee table and sofa, facing the sofa. | STEP 2: Pick up the keys from the rightmost cushion of the sofa. | STEP 3: Turn around, pass the television, and stop in front of the small black table with an open box on top. | STEP 4: Place the keys in the open box on the table. | STEP 5: Pick up the box with the keys in it from the table. | STEP 6: Turn around and carry the box to the coffee table so you are facing the red sofa when you stop. | STEP 7: Place the box with keys inside on the coffee table. | END