Task: Pick up keys with plate off of kitchen table and move to 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           -1.0           0.893          4.0            0              90             0
   1  Plate           -0.993         0.839          1.494          0              0              0              49
   2  Statue          -1.576         0.827          1.548          0              16.180         0              49
   3  Statue          -4.060         0.437          2.883          0              270            0              48
   4  Newspaper       -3.682         0.648          4.120          0              0              0              44
   5  Newspaper       -3.788         0.648          4.463          0              0              0              44
   6  Vase            -3.833         0.434          2.390          0              0              0              48
   7  Vase            -1.798         0.824          1.355          0              0              0              49
   8  Watch           -2.440         0.516          4.656          0              0              0              42
   9  Watch           -2.742         0.516          4.562          0              0              0              42
  10  KeyChain        -5.326         0.469          1.957          0              0              0              50
  11  CreditCard      -1.319         0.821          1.215          0              37.188         0              49
  12  CreditCard      -4.135         0.431          2.390          0              0              0              48
  13  RemoteControl   -1.612         0.823          1.105          0              115.696        0              49
  14  RemoteControl   -3.999         0.642          4.463          0              0              0              44
  15  Laptop          -0.886         0.820          1.119          0              37.188         0              49
  16  Laptop          -1.257         0.82           1.906          0              0              0              49
  17  Box             -4.009         0.613          2.705          0              0              0              48
  18  KeyChain        -1.119         0.823          1.295          0              0              0              49
  19  Newspaper       -5.326         0.485          2.426          0              0              0              50
  20  CreditCard      -0.792         0.821          1.494          0              0              0              49
  21  RemoteControl   -2.761         0.626          4.605          0              0              0              41
  22  Laptop          -3.955         0.424          2.020          0              346.095        0              48
  23  Plate           -2.561         0.642          4.847          0              0              0              41
  24  Pillow          -4.161         0.542          0.575          0              0              0              45
  25  Statue          -3.682         0.647          4.806          0              0              0              44
  26  Vase            -3.893         0.644          4.235          0              0              0              44
  27  Watch           -2.440         0.516          4.585          0              0              0              42
  28  Television      -3.794         1.152          4.554          0              180            0
  29  GarbageCan      -0.264         -0.040         4.728          0              271.354        0
  30  FloorLamp       -5.663         -0.010         4.679          0              315            0
  31  HousePlant      -5.703         0.596          3.938          0              0              0
  32  LightSwitch     0.0            1.292          3.378          0              270            0
  33  Painting        -4.156         1.656          -0.002         90             180            0
  34  Painting        -1.623         1.565          -0.002         90             180            0
  35  Window          -6.040         1.550          2.102          90             270            0
  36  Window          -6.040         1.531          0.859          90             270            0
  37  Window          -6.040         1.531          4.236          90             270            0
  38  Chair           -0.667         -0.006         0.656          0              321.278        0
  39  Chair           -1.932         -0.006         2.413          0              154.294        0
  40  SideTable       -4.928         -0.002         0.272          0              27.993         0
  41  SideTable       -2.561         -0.002         4.623          0              180            0
  42  Drawer          -2.560         0.532          4.446          0              180            0
  43  SideTable       -5.676         -0.002         3.949          0              0              0
  44  SideTable       -3.793         0.013          4.463          0              0              0
  45  Sofa            -3.540         -0.020         0.460          0              0              0
  46  Chair           -5.146         -0.001         0.817          0              53.761         0
  47  Chair           -0.354         -0.006         1.654          0              261.279        0
  48  CoffeeTable     -4.003         -0.007         2.454          0              270            0
  49  DiningTable     -1.395         -0.006         1.447          0              0              0
  50  Sofa            -5.470         0.007          2.504          0              90             0
  51  NorthWall
  52  EastWall
  53  SouthWall
  54  WestWall

Plan:
STEP 1: Turn right, walk to table | STEP 2: Pick up keys off of table | STEP 3: Put keys on plate on table | STEP 4: Pick up plate with keys off of table | STEP 5: Turn around, walk past table, turn left, walk forward past table, turn left, walk forward, turn right facing coffee table | STEP 6: Put plate with keys on coffee table | END