Task: put a set of keys onto a sofa

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.25          0.906          3.75           0              90             0
   1  TissueBox       -2.121         0.200          2.643          0              0              0              38
   2  Watch           -0.499         0.576          2.890          0              270            0              41
   3  Watch           -0.430         0.182          2.994          0              270            0              46
   4  Statue          -2.121         0.205          2.986          0              0              0              38
   5  Newspaper       -0.875         0.379          0.641          0              0              0              39
   6  KeyChain        -4.479         0.512          3.388          0              0              0              36
   7  CreditCard      -4.501         0.424          3.407          0              0              0              35
   8  CreditCard      -4.501         0.426          3.281          0              0              0              35
   9  Box             -4.424         0.521          1.406          0              180            0              47
  10  Laptop          -0.328         0.763          2.828          0              0              0              45
  11  Laptop          -2.371         0.417          4.491          0              0              0              48
  12  Box             -2.865         0.521          4.570          0              0              0              48
  13  CreditCard      -2.865         0.396          4.649          0              0              0              48
  14  TissueBox       -0.478         0.763          2.228          0              270            0              45
  15  Laptop          -4.503         0.417          2.146          0              270            0              47
  16  Vase            -2.880         1.518          0.144          0              0              0
  17  RemoteControl   -1.631         0.420          4.570          0              0              0              48
  18  Pillow          -1.379         0.479          4.520          0              0              0              48
  19  KeyChain        -1.816         0.195          2.299          0              0              0              38
  20  Watch           -1.969         0.195          2.757          0              0              0              38
  21  Newspaper       -0.499         0.427          3.046          0              270            0              40
  22  Statue          -0.403         0.772          2.528          0              270            0              45
  23  Statue          -1.816         0.205          2.528          0              0              0              38
  24  Curtains        -1.030         2.113          0.0            0              0              0
  25  Curtains        -3.927         2.113          0.0            0              0              0
  26  HousePlant      -3.127         1.507          0.118          0              0              0
  27  Television      0.0            1.376          2.661          0              270            0
  28  GarbageCan      -0.227         0.005          4.778          0              0              0
  29  DeskLamp        -4.658         0.508          3.318          0              270            0
  30  Painting        -2.507         1.817          0.108          90             0              0
  31  FloorLamp       -4.596         0.006          0.399          0              65.211         0
  32  LightSwitch     -3.233         1.343          5.0            0              180            0
  33  Window          -1.011         1.391          0.029          90             180            0
  34  Window          -3.900         1.391          0.029          90             180            0
  35  Drawer          -4.433         0.473          3.344          0              90             0
  36  SideTable       -4.612         0.009          3.346          0              90             0
  37  Chair           -4.572         0.005          3.862          0              113.899        0
  38  CoffeeTable     -1.972         0.002          2.615          0              270            0
  39  ArmChair        -0.875         0.005          0.566          0              0              0
  40  Shelf           -0.340         0.480          3.046          0              270            0
  41  Shelf           -0.340         0.649          3.046          0              270            0
  42  Shelf           -0.340         0.603          2.312          0              270            0
  43  Shelf           -0.340         0.448          2.678          0              270            0
  44  Shelf           -0.340         0.308          2.312          0              270            0
  45  TVStand         -0.335         0.005          2.679          0              270            0
  46  Shelf           -0.340         0.279          3.046          0              270            0
  47  Sofa            -4.566         0.009          1.880          0              90             0
  48  Sofa            -2.124         0.009          4.558          0              180            0
  49  NorthWall
  50  SouthWall
  51  SouthWall

Plan:
STEP 1: walk over to face the side table on the right of the sofa next to a green chair | STEP 2: pick up the keys from the side table | STEP 3: turn right to face the other sofa with a box and lap top | STEP 4: put the keys on the sofa in front of the box | END