Task: Move keys to the sofa

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -3.75          0.901          2.0            0              270            0
   1  Statue          -2.405         0.554          2.840          0              0              0              36
   2  Statue          -4.569         1.089          3.163          0              0              0              33
   3  Watch           -4.569         0.988          1.742          0              0              0              33
   4  Box             -2.702         0.761          0.843          0              90             0              39
   5  Pillow          -0.417         0.611          3.311          0              0              0              37
   6  Box             -2.180         0.670          2.428          0              350.086        0              36
   7  WateringCan     -0.277         -0.000         4.860          0              0              0              Floor|+00.38|
   8  CreditCard      -2.465         0.456          0.843          0              0              0              39
   9  KeyChain        -2.532         0.453          2.359          0              0              0              36
  10  Pillow          -3.294         0.624          0.801          0              0              338.090        39
  11  Laptop          -4.873         0.981          3.44           0              83.878         0              33
  12  RemoteControl   -2.658         0.455          2.744          0              0              0              36
  13  Watch           -2.658         0.453          2.263          0              0              0              36
  14  Statue          -4.569         1.086          2.595          0              0              0              33
  15  Curtains        -2.535         2.596          0.111          0              0              0
  16  FloorLamp       -4.661         0.009          0.422          0              0              0
  17  Television      -4.883         1.472          2.434          0              90             0
  18  GarbageCan      -4.810         -0.032         1.236          0              180            0
  19  Painting        -0.293         1.820          0.016          90             0              0
  20  LightSwitch     -1.016         1.243          5.0            0              180            0
  21  Painting        -5.118         1.480          4.396          90             270            0
  22  Painting        -5.118         1.480          0.656          90             270            0
  23  Window          -1.715         1.554          0.006          90             180            0
  24  Window          -3.244         1.554          0.006          90             180            0
  25  DeskLamp        0.015          0.704          4.676          0              0              0
  26  HousePlant      -4.824         0.984          1.572          0              0              0
  27  Drawer          -4.497         0.901          2.854          0              90             0
  28  Drawer          -4.497         0.901          2.339          0              90             0
  29  Cabinet         -4.409         0.498          2.603          0              90             0
  30  Cabinet         -4.409         0.498          3.622          0              90             0
  31  Drawer          -4.497         0.901          3.372          0              90             0
  32  Cabinet         -4.409         0.498          1.569          0              90             0
  33  Dresser         -4.744         4.321          2.595          0              90             0
  34  Drawer          -4.497         0.901          1.818          0              90             0
  35  Cabinet         -4.409         0.498          2.588          0              90             0
  36  CoffeeTable     -2.405         -0.000         2.546          0              0              0
  37  ArmChair        -0.298         0.002          3.310          0              270            0
  38  ArmChair        -0.298         0.002          1.713          0              270            0
  39  Sofa            -2.464         -0.002         0.700          0              0              0
  40  Chair           -4.735         0.011          4.609          1.215          90             0
  41  SideTable       -0.041         0.002          4.619          0              0              0
  42  NorthWall
  43  EastWall
  44  SouthWall
  45  WestWall

Plan:
STEP 1: Move left to face the black square coffee table | STEP 2: Pick up the keys on the coffee table | STEP 3: Carry the keys to the left side of the large tan sofa  | STEP 4: Place the keys in the middle of the sofa | END