Task: Put a box with keys in it on a 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           -2.25          0.893          4.25           0              180            0
   1  Statue          -0.919         0.827          1.818          0              142.099        0              43
   2  Newspaper       -1.395         0.828          2.051          0              90             0              43
   3  Vase            -2.494         0.627          4.605          0              0              0              35
   4  Watch           -2.742         0.516          4.562          0              0              0              36
   5  KeyChain        -1.552         0.823          1.259          0              164.379        0              43
   6  KeyChain        -2.621         0.517          4.585          0              90             0              36
   7  KeyChain        -1.349         0.823          1.649          0              90             0              43
   8  CreditCard      -1.534         0.821          1.142          0              0              0              43
   9  CreditCard      -1.488         0.821          1.649          0              90             0              43
  10  Laptop          -0.993         0.82           1.448          0              0              0              43
  11  Box             -5.326         0.661          2.894          0              180            0              44
  12  KeyChain        -2.440         0.517          4.609          0              0              0              36
  13  Newspaper       -3.682         0.648          4.806          0              0              0              38
  14  CreditCard      -1.610         0.821          1.566          0              63.501         0              43
  15  RemoteControl   -3.576         0.642          4.577          0              0              0              38
  16  Laptop          -3.788         0.639          4.349          0              0              0              38
  17  Plate           -1.842         0.819          1.723          0              25.739         0              43
  18  Pillow          -4.161         0.542          0.575          0              0              0              39
  19  Statue          -1.354         0.827          1.427          0              115.696        0              43
  20  Vase            -1.672         0.824          1.142          0              0              0              43
  21  Watch           -4.104         0.641          4.235          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, go forward a step, turn left, go forward to the couch, turn left, go forward to the round table. | STEP 2: Take the keys to the left of the vase on the table. | STEP 3: Turn around, go forward to the couch, turn right, go forward, turn left to the box on the couch. Go forward to the couch. | STEP 4: Put the keys in the box. | STEP 5: Take the box from the couch. | STEP 6: Turn right, go forward a step, turn right, go forward past the coffee table, turn right, go forward, turn right to face the coffee table. | STEP 7: Put the box on the coffee table. | END