Task: Moving the keys to a counter

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           9.5            0.902          0.25           0              180            0
   1  Watch           14.526         0.754          0.519          0              0              0              30
   2  Watch           12.156         0.606          -1.301         0              90             0              43
   3  Box             11.020         0.706          3.304          0              0              0              Floor|+09.92|
   4  Book            14.252         0.553          1.104          0              0              0              25
   5  Box             11.426         0.840          0.863          0              0              0              37
   6  CreditCard      14.526         0.751          0.780          0              0              0              30
   7  KeyChain        10.845         0.591          1.142          0              0              0              37
   8  Pillow          11.448         0.528          3.081          0              0              0              45
   9  Statue          9.692          0.436          3.216          0              0              0              37
  10  Laptop          10.845         0.588          0.771          0              0              0              37
  11  RemoteControl   10.807         0.459          3.155          0              0              0              45
  12  Watch           14.199         0.553          0.708          0              0              0              33
  13  FloorLamp       7.864          0.006          3.396          0              0              0
  14  GarbageCan      7.785          -0.027         -1.145         0              0              0
  15  Painting        7.492          1.835          -0.495         90             270            0
  16  Painting        7.492          1.835          2.792          90             270            0
  17  Television      14.459         1.218          0.925          358.945        270            0
  18  LightSwitch     12.979         1.399          3.767          0              180            0
  19  Painting        7.492          1.779          1.116          90             270            0
  20  Painting        14.763         1.753          1.126          90             270            0
  21  HousePlant      11.374         0.467          -1.143         0              0              0
  22  Window          12.029         1.687          -1.595         90             180            0
  23  Window          10.227         1.687          -1.594         90             180            0
  24  Drawer          14.183         0.374          0.556          0              270            0
  25  Drawer          14.183         0.580          1.069          0              270            0
  26  Drawer          14.183         0.580          2.095          0              270            0
  27  Drawer          14.183         0.374          1.582          0              270            0
  28  Drawer          14.183         0.169          1.069          0              270            0
  29  Drawer          14.183         0.374          1.069          0              270            0
  30  Dresser         14.330         0.002          1.323          0              270            0
  31  Drawer          14.183         0.169          2.095          0              270            0
  32  Drawer          14.183         0.374          2.095          0              270            0
  33  Drawer          14.183         0.580          0.556          0              270            0
  34  Drawer          14.183         0.169          0.556          0              270            0
  35  Drawer          14.183         0.169          1.582          0              270            0
  36  Drawer          14.183         0.580          1.582          0              270            0
  37  CoffeeTable     10.821         -0.011         0.928          0              0              0
  38  ArmChair        9.499          0.001          3.265          0              180            0
  39  SideTable       11.377         0.001          -1.160         0              90             0
  40  SideTable       14.615         -0.001         -0.776         0              270            0
  41  SideTable       14.331         0.003          0.069          0              0              0
  42  SideTable       14.331         0.003          2.585          0              0              0
  43  SideTable       12.308         0.001          -1.154         0              0              0
  44  Chair           8.154          0.006          1.499          0              90             0
  45  Sofa            11.450         0.002          3.211          0              180            0
  46  Shelf           10.794         0.231          0.928          0              0              0
  47  ArmChair        8.231          0.006          0.769          0              90             0
  48  ArmChair        8.224          0.006          -0.082         0              90             0
  49  NorthWall
  50  EastWall
  51  SouthWall
  52  WestWall

Plan:
STEP 1: Turn around and go towards the red chairs and turn right between the red chair and the table, turn right towards the table | STEP 2: Pick up the keys on the table | STEP 3: Go around behind the table | STEP 4: Place the keys in the white box on the table | STEP 5: Pick up the box with the keys | STEP 6: Turn right and go to the counter with the television | STEP 7: Place the box with the keys on the counter | END