Task: place keys down on top of a chair

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -4.0           0.920          5.75           0              0              0
   1  Newspaper       -2.402         0.453          4.279          0              0              0              40
   2  CreditCard      -4.279         0.536          3.836          0              90             0              38
   3  RemoteControl   -3.015         0.450          3.614          0              0              0              40
   4  Box             -4.508         0.661          2.929          0              180            0              38
   5  Box             -2.525         0.573          4.501          0              180            0              40
   6  Plate           -0.319         0.285          6.492          0              270            0              24
   7  Vase            -2.280         0.447          3.836          0              0              0              40
   8  WateringCan     -0.672         0.617          0.919          0              0              0              37
   9  Newspaper       -0.600         1.467          5.989          0              270            0              23
  10  Vase            -2.893         0.452          3.836          0              0              0              40
  11  KeyChain        -2.191         0.539          0.793          0              180            0              39
  12  Pillow          -1.578         0.608          0.667          0              0              0              39
  13  Statue          -2.525         0.452          3.836          0              0              0              40
  14  RemoteControl   -2.770         0.448          4.501          0              0              0              40
  15  CreditCard      -4.164         0.536          3.232          0              90             0              38
  16  Statue          -0.600         1.471          5.495          0              270            0              23
  17  Laptop          -4.342         0.523          2.224          0              32.685         0              38
  18  Statue          -0.240         0.287          6.739          0              270            0              24
  19  Curtains        -2.827         2.473          0.039          357.605        0              0
  20  Curtains        -2.184         2.473          0.039          357.605        0              0
  21  Curtains        -0.046         2.474          2.633          0              0              357.064
  22  DeskLamp        -0.484         0.612          0.691          0              0              1.144
  23  Shelf           -0.391         1.452          5.953          0              270            0
  24  Shelf           -0.398         0.270          5.961          0              270            0
  25  Television      -0.75          1.661          3.936          0              270            0
  26  GarbageCan      -0.525         -0.009         2.822          0              0              0
  27  Painting        -2.670         1.574          7.000          90             180            0
  28  Bowl            -2.400         0.464          3.442          0              0              0
  29  LightSwitch     -5.0           1.246          5.857          0              90             0
  30  Window          -1.373         1.565          0.008          90             180            0
  31  Window          -0.014         1.567          1.496          90             270            0
  32  Window          -3.726         1.565          0.008          90             180            0
  33  FloorLamp       -4.514         0.027          0.663          0              0              0
  34  HousePlant      -2.659         0.466          4.165          0              0              0
  35  Shelf           -0.594         0.104          0.841          0              0              0
  36  Shelf           -0.594         0.359          0.841          0              0              0
  37  SideTable       -0.594         0.018          0.841          0              0              0
  38  Sofa            -4.360         0.028          2.929          0              90             0
  39  Sofa            -2.493         0.028          0.725          0              0              0
  40  CoffeeTable     -2.648         0.019          4.058          0              270            0
  41  ArmChair        -4.446         0.017          6.450          0              90             0
  42  NorthWall
  43  SouthWall
  44  SouthWall

Plan:
STEP 1: turn around and walk forwards past the coffee table, then take a left and walk to the corner of the coffee table, then a right and walk over to the couch cushions up ahead | STEP 2: grab the keys off of the couch cushion | STEP 3: turn right and walk to the other couch, then another right turn and walk over to the chair at the end of the room on the left, and turn left to face said chair | STEP 4: place a keys down on top of the chair there | END