Task: Bring the keys to the couch

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.75          0.901          4.75           0              0              0
   1  Watch           -0.216         0.707          4.659          0              0              0              40
   2  Watch           -5.007         0.988          2.026          0              270            0              32
   3  CreditCard      -4.656         0.988          2.026          0              0              0              32
   4  Pillow          -0.505         0.614          3.311          0              0              0              36
   5  Box             -2.180         0.670          2.428          0              350.086        0              35
   6  WateringCan     -0.277         -0.000         4.860          0              0              0              Floor|+00.38|
   7  CreditCard      -2.279         0.452          2.648          0              0              0              35
   8  KeyChain        -2.658         0.453          2.552          0              0              0              35
   9  Pillow          -3.294         0.624          0.801          0              0              338.090        38
  10  Laptop          -4.873         0.981          3.44           0              83.878         0              32
  11  RemoteControl   -2.702         0.529          0.662          0              0              0              38
  12  Watch           -4.569         0.985          3.163          0              0              0              32
  13  Statue          -2.532         0.554          2.359          0              0              0              35
  14  Curtains        -2.535         2.596          0.111          0              0              0
  15  FloorLamp       -4.661         0.009          0.422          0              0              0
  16  Television      -4.883         1.472          2.434          0              90             0
  17  GarbageCan      -4.810         -0.032         1.236          0              180            0
  18  Painting        -0.293         1.820          0.016          90             0              0
  19  LightSwitch     -1.016         1.243          5.0            0              180            0
  20  Painting        -5.118         1.480          4.396          90             270            0
  21  Painting        -5.118         1.480          0.656          90             270            0
  22  Window          -1.715         1.554          0.006          90             180            0
  23  Window          -3.244         1.554          0.006          90             180            0
  24  DeskLamp        0.015          0.704          4.676          0              0              0
  25  HousePlant      -4.824         0.984          1.572          0              0              0
  26  Drawer          -4.497         0.901          2.854          0              90             0
  27  Drawer          -4.497         0.901          2.339          0              90             0
  28  Cabinet         -4.409         0.498          2.603          0              90             0
  29  Cabinet         -4.409         0.498          3.622          0              90             0
  30  Drawer          -4.497         0.901          3.372          0              90             0
  31  Cabinet         -4.409         0.498          1.569          0              90             0
  32  Dresser         -4.744         4.321          2.595          0              90             0
  33  Drawer          -4.497         0.901          1.818          0              90             0
  34  Cabinet         -4.409         0.498          2.588          0              90             0
  35  CoffeeTable     -2.405         -0.000         2.546          0              0              0
  36  ArmChair        -0.298         0.002          3.310          0              270            0
  37  ArmChair        -0.298         0.002          1.713          0              270            0
  38  Sofa            -2.464         -0.002         0.700          0              0              0
  39  Chair           -4.735         0.011          4.609          1.215          90             0
  40  SideTable       -0.041         0.002          4.619          0              0              0
  41  NorthWall
  42  EastWall
  43  SouthWall
  44  WestWall

Plan:
STEP 1: Turn around, go forward a bit, turn right, go forward, turn left,go forward, turn left in front of the coffee table | STEP 2: Pick up the keys on the coffee table | STEP 3: Turn right, go forward a bit, turn left, go forward, turn right in front of the couch | STEP 4: Put the keys in the middle of couch | END