Task: Place keys in a safe

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          -3.25          0              270            0
   1  Mug             1.694          0.894          -2.975         0              0              0              39
   2  Mug             -2.394         0.679          -3.382         0              90             0              41
   3  CellPhone       2.713          0.092          1.679          0              270            0              43
   4  CellPhone       -2.575         0.673          -3.072         0              90             0              41
   5  Pen             1.694          0.902          -3.044         0              0              0              39
   6  Pencil          1.694          0.901          -3.389         0              0              0              39
   7  CreditCard      2.556          0.896          -3.182         0              0              0              39
   8  Book            -1.874         0.618          -1.262         0              90             0              26
   9  AlarmClock      2.039          0.900          -3.113         0              0              0              39
  10  Laptop          -2.440         0.617          -2.261         0              0              0              26
  11  Laptop          -0.742         0.617          -2.061         0              0              0              26
  12  Book            1.932          0.360          -3.139         0              90             0              36
  13  CreditCard      2.007          0.080          -3.139         0              0              0              36
  14  Pen             2.211          0.902          -3.251         0              0              0              39
  15  Pencil          2.678          0.649          1.426          0              270            0              47
  16  TeddyBear       -0.667         0.612          -1.364         0              81.467         0              26
  17  Laptop          -1.874         0.617          -2.061         0              0              0              26
  18  AlarmClock      -2.445         0.676          -2.989         0              0              0              41
  19  CellPhone       2.678          0.922          1.342          0              270            0              44
  20  KeyChain        2.826          1.228          1.168          0              270            0              46
  21  Pillow          -2.124         0.658          -1.522         0              28.296         0              26
  22  Pillow          2.262          0.418          -0.296         0              0              0              34
  23  CD              2.638          1.228          1.397          0              270            0              46
  24  Mug             2.384          0.894          -3.044         0              0              0              39
  25  Bowl            1.840          0.889          -3.239         0              0              0              39
  26  Bed             -1.613         -0.028         -1.861         0              270            0
  27  DeskLamp        2.760          0.890          -3.317         0              90             0
  28  DeskLamp        -2.459         0.668          -0.532         0              90             0
  29  LightSwitch     -0.700         1.016          0.334          0              90             0
  30  GarbageCan      1.343          1.087          -3.374         0              0              0
  31  Mirror          0.532          1.419          2.0            0              0              0
  32  Window          -0.834         1.394          -3.653         90             0              0
  33  Window          2.958          1.508          -1.019         90             270            0
  34  Sofa            2.383          0.008          -0.288         0              270            0
  35  Safe            2.721          1.228          1.784          0              270            0
  36  Drawer          1.979          0.486          -2.988         0              0              0
  37  Drawer          1.979          0.728          -2.988         0              0              0
  38  Drawer          1.979          0.208          -2.988         0              0              0
  39  Desk            2.318          -0.009         -3.214         0              0              0
  40  Drawer          -2.349         0.163          -3.150         0              90             0
  41  SideTable       -2.416         -0.001         -3.149         0              90             0
  42  Drawer          -2.349         0.455          -3.150         0              90             0
  43  Drawer          2.641          0.172          1.511          0              270            0
  44  Drawer          2.641          1.002          1.511          0              270            0
  45  Drawer          2.641          0.448          1.511          0              270            0
  46  Dresser         2.676          0.002          1.511          0              270            0
  47  Drawer          2.641          0.725          1.511          0              270            0
  48  SideTable       -2.416         -0.001         -0.514         0              90             0
  49  Drawer          -2.349         0.163          -0.514         0              90             0
  50  Drawer          -2.349         0.455          -0.514         0              90             0
  51  Blinds          -0.800         2.087          -3.627         0              0              0
  52  Blinds          2.931          2.166          -1.0           0              270            0
  53  Chair           2.574          0.002          -2.881         0              175.162        0
  54  NorthWall
  55  EastWall
  56  SouthWall
  57  WestWall

Plan:
STEP 1: Go to the cabinet next to the sofa | STEP 2: Pick up the keys from the top of the cabinet | STEP 3: Turn around and face the cabinet again | STEP 4: Place the keys in the safe | END