Task: To move 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           -1.25          0.916          0.5            0              180            0
   1  KeyChain        -2.767         0.360          -1.732         0              29.999         0              34
   2  CellPhone       -2.939         0.367          -1.889         0              29.999         0              34
   3  RemoteControl   3.276          0.592          0.497          0              180            0              40
   4  Laptop          -2.885         0.561          1.187          0              270            0              52
   5  Book            0.116          0.902          1.073          0              29.999         0              57
   6  Box             3.173          0.206          -0.048         0              19.470         0              43
   7  Statue          -0.113         0.912          2.431          0              0              0              57
   8  CreditCard      -0.195         0.411          0.829          0              0              0              58
   9  Laptop          -2.885         0.561          1.806          0              270            0              52
  10  WateringCan     2.893          0.014          -1.916         0              328.832        0
  11  Newspaper       -0.145         0.669          1.464          0              0              0              65
  12  Vase            -2.168         1.195          -2.183         0              0              0
  13  CellPhone       -0.295         0.910          1.460          0              0              0              57
  14  RemoteControl   -0.295         0.907          2.188          0              0              0              57
  15  Vase            -1.046         1.195          -2.151         0              0              0
  16  Pillow          -2.893         0.616          0.818          0              0              0              52
  17  KeyChain        0.067          0.909          2.188          0              0              0              57
  18  Cabinet         0.333          0.514          -2.015         0              0              0
  19  DeskLamp        3.143          0.591          1.457          0              270            0
  20  LightSwitch     -0.927         1.316          2.846          0              180            0
  21  HousePlant      0.491          0.874          -1.581         0              0              0
  22  Television      0.069          1.406          1.698          0              270            0
  23  GarbageCan      3.164          0.026          0.891          0              0              0
  24  Painting        -1.561         1.408          -2.318         90             180            0
  25  Painting        3.367          1.789          -0.949         90             270            0
  26  Painting        -3.488         1.386          -0.507         90             270            0
  27  FloorLamp       3.103          0.025          -2.341         0              135            0
  28  Window          1.133          1.218          -2.740         90             0              0
  29  Window          -3.368         1.180          -1.539         90             90             0
  30  Window          2.898          1.218          -2.740         90             0              0
  31  Window          2.006          1.218          -2.740         90             0              0
  32  Window          -0.193         1.157          -2.563         90             0              0
  33  Window          -2.970         1.157          -2.563         90             0              0
  34  ArmChair        -2.859         0.026          -2.036         0              29.994         0
  35  SideTable       -0.170         0.027          -2.279         0              0              0
  36  Drawer          -0.173         0.465          -2.135         0              0              0
  37  Drawer          3.104          0.167          1.400          0              270            0
  38  SideTable       3.163          0.032          1.400          0              270            0
  39  Drawer          3.103          0.418          1.401          0              270            0
  40  SideTable       3.163          0.032          0.364          0              270            0
  41  Drawer          -3.241         0.418          -0.490         0              90             0
  42  Drawer          3.104          0.167          -0.574         0              270            0
  43  SideTable       3.163          0.032          -0.574         0              270            0
  44  Drawer          3.104          0.167          0.364          0              270            0
  45  Drawer          3.104          0.419          -0.574         0              270            0
  46  Drawer          -3.241         0.167          -0.489         0              90             0
  47  SideTable       -3.300         0.032          -0.489         0              90             0
  48  Drawer          3.104          0.419          0.364          0              270            0
  49  Chair           1.049          0.031          -2.190         0              29.997         0
  50  DogBed          2.739          0.032          2.260          0              45             0
  51  Chair           2.037          0.031          -2.232         0              350.485        0
  52  Sofa            -2.957         0.032          1.393          0              90             0
  53  Drawer          -0.189         0.232          0.954          0              270            0
  54  Drawer          -0.415         0.854          1.921          0              270            0
  55  Drawer          -0.415         0.351          1.414          0              270            0
  56  Drawer          -0.415         0.603          1.414          0              270            0
  57  Dresser         -0.052         0.028          1.667          0              270            0
  58  Drawer          -0.190         0.484          0.954          0              270            0
  59  Drawer          -0.190         0.736          0.954          0              270            0
  60  Drawer          -0.415         0.603          1.921          0              270            0
  61  Drawer          -0.415         0.603          2.384          0              270            0
  62  Drawer          -0.415         0.351          2.384          0              270            0
  63  Drawer          -0.415         0.854          2.384          0              270            0
  64  Drawer          -0.415         0.351          1.921          0              270            0
  65  Drawer          -0.415         0.854          1.414          0              270            0
  66  Stool           3.135          0.029          -1.625         0              330.001        0
  67  Chair           1.631          0.029          2.210          0              161.562        0
  68  NorthWall
  69  EastWall
  70  SouthWall
  71  WestWall

Plan:
STEP 1: Turn around and walk across the room, then turn right to face the table.  | STEP 2: Pick up the keys on the table.  | STEP 3: Turn around and walk to the couch.  | STEP 4: Put the keys on the edge of the couch.  | STEP 5: Turn left and walk across the room, then turn turn right and take one step, then turn left to face the chair.  | STEP 6: Pick up the keys that are near the cell phone on the chair. | STEP 7: Turn right and walk to the couch, then turn right and take one step, then turn left and take three steps, then turn left and walk to the couch. | STEP 8: Place the keys to the right of the other set of keys on the couch. | END