Task: place tray with keys on coffee table

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -4.5           0.893          4.75           0              0              0
   1  Plate           -1.214         0.839          1.546          0              164.379        0              42
   2  Watch           -2.694         0.626          4.605          0              0              0              34
   3  KeyChain        -5.245         0.479          2.191          0              0              0              43
   4  KeyChain        -3.576         0.643          4.691          0              0              0              37
   5  CreditCard      -2.682         0.516          4.585          0              0              0              35
   6  CreditCard      -1.256         0.821          1.045          0              90             0              42
   7  Box             -3.655         0.648          0.608          0              0              0              38
   8  Box             -4.060         0.623          2.061          0              0              0              41
   9  Laptop          -5.245         0.481          2.426          0              0              0              43
  10  Box             -3.893         0.833          4.349          0              270            0              37
  11  KeyChain        -3.909         0.433          2.554          0              0              0              41
  12  Newspaper       -3.893         0.648          4.691          0              0              0              37
  13  CreditCard      -0.777         0.821          1.413          0              16.180         0              42
  14  RemoteControl   -3.909         0.433          2.719          0              0              0              41
  15  Laptop          -1.534         0.82           1.142          0              0              0              42
  16  Plate           -0.980         0.839          1.906          0              0              0              42
  17  Pillow          -4.161         0.542          0.575          0              0              0              38
  18  Statue          -2.561         0.618          4.817          0              196.793        0              34
  19  Vase            -4.060         0.434          2.883          0              0              0              41
  20  Watch           -3.984         0.432          2.390          0              0              0              41
  21  Television      -3.794         1.152          4.554          0              180            0
  22  GarbageCan      -0.264         -0.040         4.728          0              271.354        0
  23  FloorLamp       -5.663         -0.010         4.679          0              315            0
  24  HousePlant      -5.703         0.596          3.938          0              0              0
  25  LightSwitch     0.0            1.292          3.378          0              270            0
  26  Painting        -4.156         1.656          -0.002         90             180            0
  27  Painting        -1.623         1.565          -0.002         90             180            0
  28  Window          -6.040         1.550          2.102          90             270            0
  29  Window          -6.040         1.531          0.859          90             270            0
  30  Window          -6.040         1.531          4.236          90             270            0
  31  Chair           -0.667         -0.006         0.656          0              321.278        0
  32  Chair           -1.932         -0.006         2.413          0              154.294        0
  33  SideTable       -4.928         -0.002         0.272          0              27.993         0
  34  SideTable       -2.561         -0.002         4.623          0              180            0
  35  Drawer          -2.560         0.532          4.446          0              180            0
  36  SideTable       -5.676         -0.002         3.949          0              0              0
  37  SideTable       -3.793         0.013          4.463          0              0              0
  38  Sofa            -3.540         -0.020         0.460          0              0              0
  39  Chair           -5.146         -0.001         0.817          0              53.761         0
  40  Chair           -0.354         -0.006         1.654          0              261.279        0
  41  CoffeeTable     -4.003         -0.007         2.454          0              270            0
  42  DiningTable     -1.395         -0.006         1.447          0              0              0
  43  Sofa            -5.470         0.007          2.504          0              90             0
  44  NorthWall
  45  EastWall
  46  SouthWall
  47  WestWall

Plan:
STEP 1: turn around, go to space between couch and coffee table, face coffee table | STEP 2: pick up keys to the right of remote on coffee table | STEP 3: go around coffee table to dining table with chairs | STEP 4: place keys on gray tray closest to laptop on dining table | STEP 5: pick up gray tray with key from table | STEP 6: turn right, go to front of coffee table | STEP 7: place tray with keys on coffee table | END