Task: put white plate and keys on black shelf

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -3.5           0.920          1.75           0              270            0
   1  Plate           -2.648         0.453          3.836          0              0              0              47
   2  Plate           -2.648         0.451          4.501          0              0              0              47
   3  Newspaper       -2.796         0.547          0.984          0              0              0              46
   4  Newspaper       -2.402         0.453          4.279          0              0              0              47
   5  WateringCan     -0.437         0.617          0.919          0              0              0              44
   6  WateringCan     -0.240         0.281          5.997          0              270            0              31
   7  KeyChain        -4.305         0.465          6.262          0              270            0              48
   8  KeyChain        -2.191         0.539          0.793          0              180            0              46
   9  CreditCard      -2.893         0.449          3.614          0              0              0              47
  10  CreditCard      -4.051         0.450          6.262          0              0              0              48
  11  RemoteControl   -0.750         0.617          0.842          0              0              0              44
  12  Box             -4.623         0.661          2.929          0              270            0              45
  13  Plate           -2.913         0.442          3.398          0              0              0              47
  14  Vase            -2.525         0.447          4.722          0              0              0              47
  15  WateringCan     -3.015         0.448          4.279          0              0              0              47
  16  Newspaper       -2.893         0.455          4.722          0              0              0              47
  17  Vase            -0.585         1.452          6.434          0              0              0              30
  18  KeyChain        -0.750         0.617          0.608          0              0              0              44
  19  Pillow          -2.494         0.607          0.793          0              0              0              46
  20  Statue          -2.280         0.452          4.501          0              0              0              47
  21  RemoteControl   -2.893         0.448          3.836          0              0              0              47
  22  CreditCard      -0.161         0.280          6.244          0              270            0              31
  23  Statue          -0.600         1.471          5.742          0              270            0              30
  24  Laptop          -4.305         0.471          6.450          0              0              0              48
  25  Statue          -0.526         1.468          5.989          0              270            0              30
  26  Curtains        -2.827         2.473          0.039          357.605        0              0
  27  Curtains        -2.184         2.473          0.039          357.605        0              0
  28  Curtains        -0.046         2.474          2.633          0              0              357.064
  29  DeskLamp        -0.484         0.612          0.691          0              0              1.144
  30  Shelf           -0.391         1.452          5.953          0              270            0
  31  Shelf           -0.398         0.270          5.961          0              270            0
  32  Television      -0.75          1.661          3.936          0              270            0
  33  GarbageCan      -0.525         -0.009         2.822          0              0              0
  34  Painting        -2.670         1.574          7.000          90             180            0
  35  Bowl            -2.400         0.464          3.442          0              0              0
  36  LightSwitch     -5.0           1.246          5.857          0              90             0
  37  Window          -1.373         1.565          0.008          90             180            0
  38  Window          -0.014         1.567          1.496          90             270            0
  39  Window          -3.726         1.565          0.008          90             180            0
  40  FloorLamp       -4.514         0.027          0.663          0              0              0
  41  HousePlant      -2.659         0.466          4.165          0              0              0
  42  Shelf           -0.594         0.104          0.841          0              0              0
  43  Shelf           -0.594         0.359          0.841          0              0              0
  44  SideTable       -0.594         0.018          0.841          0              0              0
  45  Sofa            -4.360         0.028          2.929          0              90             0
  46  Sofa            -2.493         0.028          0.725          0              0              0
  47  CoffeeTable     -2.648         0.019          4.058          0              270            0
  48  ArmChair        -4.446         0.017          6.450          0              90             0
  49  NorthWall
  50  SouthWall
  51  SouthWall

Plan:
STEP 1: walk over to face side table on left side of long couch | STEP 2: pick up keys from side table | STEP 3: walk to face coffee table | STEP 4: put keys on white plate on table | STEP 5: pick up white plate from table | STEP 6: walk to face black shelf near ground | STEP 7: put white plate on black shelf | END