Task: Put a cardboard box containing keys on a couch.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -4.75          0.893          1.5            0              270            0
   1  Newspaper       -5.245         0.472          1.723          0              0              0              44
   2  Newspaper       -1.312         0.828          1.407          0              115.696        0              43
   3  Vase            -1.257         0.824          1.600          0              0              0              43
   4  Vase            -3.833         0.434          2.883          0              0              0              42
   5  Watch           -4.211         0.432          2.390          0              0              0              42
   6  Watch           -4.060         0.432          1.896          0              0              0              42
   7  RemoteControl   -4.135         0.433          2.719          0              0              0              42
   8  RemoteControl   -3.909         0.433          2.554          0              0              0              42
   9  Box             -1.396         1.013          1.142          0              0              0              43
  10  Laptop          -5.245         0.469          2.894          0              180            0              44
  11  Box             -3.909         0.623          2.061          0              0              0              42
  12  KeyChain        -2.990         0.444          0.290          0              90             0              39
  13  Newspaper       -3.984         0.438          2.883          0              0              0              42
  14  CreditCard      -5.245         0.483          2.426          0              0              0              44
  15  RemoteControl   -3.984         0.433          2.390          0              0              0              42
  16  Laptop          -1.783         0.820          1.339          0              164.379        0              43
  17  Plate           -3.576         0.658          4.120          0              0              0              38
  18  Pillow          -4.161         0.542          0.575          0              0              0              39
  19  Statue          -0.828         0.827          1.235          0              16.180         0              43
  20  Vase            -0.980         0.824          1.448          0              0              0              43
  21  Watch           -1.050         0.822          1.951          0              115.696        0              43
  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 around, go forward to the table, turn to the right to face the couch. | STEP 2: Pick up the set of keys that is on the couch. | STEP 3: Turn to the right, go forward to the table on the right where the cardboard box is.  | STEP 4: Put the keys inside the cardboard box that is on the table.  | STEP 5: Pick up the cardboard box from the table.  | STEP 6: Turn to the right, go forward, hang a left, turn around to face the couch. | STEP 7: Put the cardboard box down on the center cushion of the couch. | END