Task: Move a set of keys to an armchair.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.75          0.920          3.75           0              0              0
   1  Plate           -0.240         0.285          5.503          0              270            0              31
   2  Newspaper       -0.600         1.467          6.483          0              270            0              30
   3  Newspaper       -0.319         0.286          5.997          0              270            0              31
   4  WateringCan     -2.280         0.448          3.836          0              0              0              47
   5  WateringCan     -2.770         0.450          3.836          0              0              0              47
   6  Vase            -3.015         0.449          4.501          0              0              0              47
   7  KeyChain        -0.672         0.617          0.997          0              90             0              44
   8  KeyChain        -2.770         0.447          4.058          0              0              0              47
   9  CreditCard      -1.889         0.536          0.697          0              0              0              46
  10  CreditCard      -0.672         0.616          0.764          0              0              0              44
  11  Pillow          -4.508         0.603          2.929          0              90             0              45
  12  Box             -2.525         0.571          4.722          0              90             0              47
  13  Plate           -2.913         0.442          3.398          0              0              0              47
  14  Vase            -2.893         0.449          4.279          0              0              0              47
  15  WateringCan     -2.280         0.450          4.279          0              0              0              47
  16  Newspaper       -4.393         0.543          3.836          0              90             0              45
  17  Vase            -2.280         0.452          4.058          0              0              0              47
  18  KeyChain        -0.437         0.617          0.997          0              0              0              44
  19  Pillow          -1.578         0.608          0.667          0              0              0              46
  20  Statue          -0.600         1.467          5.742          0              270            0              30
  21  RemoteControl   -4.623         0.538          3.232          0              90             0              45
  22  CreditCard      -4.049         0.536          2.022          0              90             0              45
  23  Statue          -0.525         1.453          5.351          0              294.738        0              30
  24  Laptop          -4.342         0.523          2.224          0              32.685         0              45
  25  Statue          -0.598         1.452          6.794          0              284.797        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: Go Forward and then go around the right side of the coffee table, | STEP 2: Pick up keys from the coffee table. | STEP 3: Go forward then turn left to face the armchair. | STEP 4: Place the keys on the armchair.  | END