Task: place the keys down on top of the sofa

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.75           0.900          1.25           0              270            0
   1  KeyChain        -0.576         0.426          0.865          0              90             0              36
   2  KeyChain        -0.473         0.391          1.652          0              180            0              33
   3  KeyChain        -2.730         0.784          -4.279         0              270            0              34
   4  RemoteControl   -0.790         0.426          0.928          0              90             0              36
   5  Laptop          -0.614         0.389          1.867          0              180            0              33
   6  Laptop          -3.348         0.781          -3.835         0              270            0              34
   7  Box             -3.100         0.898          -3.392         0              180            0              34
   8  KeyChain        -3.101         0.787          -4.057         0              270            0              34
   9  Laptop          -3.348         0.781          -4.279         0              270            0              34
  10  Statue          -3.035         0.78           -3.752         0              0              0              34
  11  Pillow          1.036          0.581          -0.213         0              325.391        0              35
  12  RemoteControl   -0.575         0.426          1.178          0              90             0              36
  13  Statue          -0.734         1.320          -2.723         0              0              0              18
  14  CreditCard      -2.025         0.760          0.764          0              90             0              28
  15  Vase            -2.400         0.764          0.314          0              90             0              28
  16  Statue          -3.471         0.796          -2.948         0              270            0              34
  17  Shelf           -0.612         0.880          -2.832         0              0              0
  18  Shelf           -0.612         1.317          -2.832         0              0              0
  19  LightSwitch     -2.599         1.254          -0.774         0              90             0
  20  GarbageCan      -1.343         0.015          -4.825         0              0              0
  21  HousePlant      0.506          1.097          2.235          0              0              0
  22  Painting        -0.509         1.742          2.404          90             0              0
  23  FloorLamp       1.712          0.001          0.374          0              0              0
  24  Painting        -5.0           1.626          -3.548         90             270            0
  25  Television      -2.258         1.245          0.755          0              90             0
  26  Shelf           -2.238         0.474          0.396          0              90             0
  27  Shelf           -2.238         0.273          0.396          0              90             0
  28  TVStand         -2.244         -0.000         0.762          0              90             0
  29  Shelf           -2.238         0.302          1.130          0              90             0
  30  Shelf           -2.238         0.442          0.764          0              90             0
  31  Shelf           -2.238         0.597          1.130          0              90             0
  32  Shelf           -2.238         0.643          0.396          0              90             0
  33  ArmChair        -0.559         0.000          1.951          0              180            0
  34  DiningTable     -3.101         0.000          -3.613         0              270            0
  35  Sofa            0.880          0.007          -0.591         0              315            0
  36  Ottoman         -0.576         0.008          1.052          0              180            0
  37  Chair           -3.501         0.002          -3.716         0              90             0
  38  Chair           -3.182         0.002          -2.813         0              165.000        0
  39  Chair           -3.130         0.002          -4.418         0              345.001        0
  40  Chair           -2.686         0.002          -3.301         0              285.000        0
  41  SideTable       1.825          0.000          1.092          0              270            0
  42  Drawer          1.761          0.774          1.092          0              270            0
  43  NorthWall
  44  EastWall
  45  SouthWall
  46  WestWall

Plan:
STEP 1: walk to the front of the foot rest in front of you | STEP 2: grab the keys off of the foot rest | STEP 3: turn around and walk over to the right side of the sofa | STEP 4: place the keys down on top of the sofa | END