Task: Putting a plate with a set of keys on top on a 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           -3.25          0.893          3.0            0              90             0
   1  Statue          -2.627         0.631          4.605          0              0              0              34
   2  Newspaper       -1.497         0.828          1.251          0              142.099        0              42
   3  Newspaper       -1.050         0.828          1.951          0              115.696        0              42
   4  Vase            -1.589         0.824          1.504          0              16.180         0              42
   5  KeyChain        -2.360         0.627          4.605          0              0              0              34
   6  RemoteControl   -2.440         0.517          4.609          0              270            0              35
   7  RemoteControl   -3.833         0.433          2.225          0              0              0              41
   8  Box             -1.043         1.013          0.948          0              63.501         0              42
   9  Laptop          -3.788         0.639          4.235          0              0              0              37
  10  Box             -4.009         0.613          2.705          0              0              0              41
  11  KeyChain        -5.569         0.459          3.128          0              180            0              43
  12  Newspaper       -1.008         0.828          1.556          0              164.379        0              42
  13  CreditCard      -3.433         0.442          0.290          0              0              0              38
  14  RemoteControl   -3.984         0.433          2.061          0              0              0              41
  15  Laptop          -5.245         0.469          2.894          0              180            0              43
  16  Plate           -1.842         0.819          1.723          0              25.739         0              42
  17  Pillow          -4.161         0.542          0.575          0              0              0              38
  18  Statue          -3.833         0.437          1.896          0              0              0              41
  19  Vase            -1.811         0.824          0.989          0              0              0              42
  20  Watch           -3.984         0.432          2.883          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 left and go to the black table | STEP 2: Grab the keys off of the table | STEP 3: Turn around and go to the round table | STEP 4: Put the keys on the plate on the table | STEP 5: Grab the plate off of the table | STEP 6: Turn around and go to the coffee table | STEP 7: Put the plate on the right side of the table | END