Task: put box and keys on blue plush chair

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -3.0           0.901          1.5            0              0              0
   1  Newspaper       -0.952         0.615          1.960          0              0              0              60
   2  CellPhone       -4.826         1.111          4.391          0              90             0              57
   3  CellPhone       -0.192         1.102          0.826          0              270            0              47
   4  Statue          -1.460         1.107          0.192          0              0              0              42
   5  Statue          -1.093         0.598          0.185          0              0              0              46
   6  Vase            -3.706         0.207          4.331          0              90             0              54
   7  Vase            -4.184         1.115          4.490          0              90             0              56
   8  Watch           -1.368         0.593          0.295          0              0              0              46
   9  CreditCard      -2.901         1.111          4.786          0              90             0              56
  10  CreditCard      -4.797         0.995          4.267          0              90             0              57
  11  RemoteControl   -5.024         1.041          0.173          0              0              0              38
  12  Box             -0.952         0.843          2.753          0              0              0              60
  13  Watch           -3.455         0.997          4.313          0              90             0              56
  14  Pillow          -2.031         0.668          4.421          0              0              0              50
  15  TissueBox       -2.983         0.201          4.589          0              90             0              55
  16  Newspaper       -0.213         0.079          1.102          0              90             0              41
  17  CreditCard      -4.854         1.038          0.306          0              0              0              38
  18  KeyChain        -2.458         0.034          0.421          0              180            0              39
  19  CellPhone       -4.717         0.861          0.282          0              0              0              37
  20  Statue          -3.863         1.113          4.391          0              90             0              56
  21  Laptop          -3.393         1.104          4.492          0              191.867        0              56
  22  RemoteControl   -1.097         1.594          0.324          0              0              0              43
  23  Vase            -2.244         0.037          0.317          0              90             0              39
  24  DeskLamp        -4.649         1.051          0.268          0              0              0
  25  DeskLamp        -2.992         1.107          4.522          0              0              0
  26  FloorLamp       -0.650         0.007          4.431          0              0              0
  27  FloorLamp       -5.607         0.007          4.641          0              0              0
  28  Shelf           -5.237         1.776          0.070          0              0              0
  29  Shelf           -5.238         1.968          0.085          0              0              0
  30  Shelf           -5.242         1.391          0.086          0              0              0
  31  Shelf           -5.241         1.582          0.065          0              0              0
  32  LightSwitch     -6.002         1.353          3.404          0              90             0
  33  GarbageCan      -5.794         -0.033         4.073          0              90             0
  34  Painting        -6.017         1.802          4.177          90             270            0
  35  HousePlant      -3.966         1.625          0.135          0              315            0
  36  Television      -3.355         0.833          0.027          0              0              0
  37  Drawer          -5.024         0.903          0.370          0              0              0
  38  SideTable       -5.024         0.008          0.267          0              0              0
  39  Safe            -2.298         5.778          0.268          0              90             0
  40  Shelf           -0.253         0.781          1.058          0              270            0
  41  Shelf           -0.283         0.274          1.066          0              270            0
  42  Shelf           -1.224         1.288          0.270          0              0              0
  43  Shelf           -1.218         1.810          0.275          0              0              0
  44  Shelf           -0.280         1.810          1.057          0              270            0
  45  Shelf           -1.218         0.274          0.262          0              0              0
  46  Shelf           -1.223         0.782          0.237          0              0              0
  47  Shelf           -0.280         1.288          1.055          0              270            0
  48  ShelvingUnit    -0.268         0.004          1.067          0              270            0
  49  ShelvingUnit    -1.218         0.004          0.244          0              0              0
  50  ArmChair        -2.027         0.001          4.422          0              178.692        0
  51  Drawer          -4.329         1.014          4.311          0              180            0
  52  Drawer          -3.750         1.014          4.311          0              180            0
  53  Cabinet         -4.049         0.561          4.212          0              180            0
  54  Cabinet         -4.032         0.561          4.212          0              180            0
  55  Cabinet         -2.884         0.561          4.212          0              180            0
  56  Dresser         -4.041         -0.000         4.589          0              180            0
  57  Drawer          -4.916         1.014          4.311          0              180            0
  58  Drawer          -3.166         1.014          4.311          0              180            0
  59  Cabinet         -5.196         0.561          4.212          0              180            0
  60  Sofa            -0.705         -0.002         2.753          0              270            0
  61  NorthWall
  62  SouthWall
  63  SouthWall

Plan:
STEP 1: walk to face safe on floor | STEP 2: pick up keys from inside safe | STEP 3: walk to face sofa with box | STEP 4: put keys in box on sofa | STEP 5: pick up box from sofa | STEP 6: walk to face blue plush chair | STEP 7: put box on chair | END