Task: Places keys on a couch

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           0.906          3.25           0              180            0
   1  Watch           -0.178         0.765          2.828          0              270            0              41
   2  Watch           -0.395         0.426          3.150          0              270            0              36
   3  Statue          -0.270         0.191          2.678          0              270            0              39
   4  KeyChain        -0.478         0.762          2.978          0              270            0              41
   5  KeyChain        -1.740         0.198          2.872          0              0              0              34
   6  CreditCard      -4.522         0.512          3.257          0              0              0              32
   7  RemoteControl   -4.582         0.420          2.146          0              270            0              43
   8  Box             -2.111         0.293          2.930          0              0              0              34
   9  CreditCard      -0.553         0.765          2.228          0              270            0              41
  10  TissueBox       -0.478         0.766          3.128          0              270            0              41
  11  Laptop          -2.865         0.417          4.412          0              0              0              44
  12  Vase            -2.880         1.518          0.144          0              0              0
  13  RemoteControl   -4.503         0.420          2.640          0              270            0              43
  14  Pillow          -1.379         0.479          4.520          0              0              0              44
  15  KeyChain        -0.102         0.765          3.128          0              270            0              41
  16  Watch           -0.403         0.765          2.828          0              270            0              41
  17  Newspaper       -0.969         0.379          0.712          0              0              0              35
  18  Statue          -0.253         0.772          2.978          0              270            0              41
  19  Statue          -0.328         0.775          2.678          0              0              0              41
  20  Curtains        -1.030         2.113          0.0            0              0              0
  21  Curtains        -3.927         2.113          0.0            0              0              0
  22  HousePlant      -3.127         1.507          0.118          0              0              0
  23  Television      0.0            1.376          2.661          0              270            0
  24  GarbageCan      -0.227         0.005          4.778          0              0              0
  25  DeskLamp        -4.658         0.508          3.318          0              270            0
  26  Painting        -2.507         1.817          0.108          90             0              0
  27  FloorLamp       -4.596         0.006          0.399          0              65.211         0
  28  LightSwitch     -3.233         1.343          5.0            0              180            0
  29  Window          -1.011         1.391          0.029          90             180            0
  30  Window          -3.900         1.391          0.029          90             180            0
  31  Drawer          -4.433         0.473          3.344          0              90             0
  32  SideTable       -4.612         0.009          3.346          0              90             0
  33  Chair           -4.572         0.005          3.862          0              113.899        0
  34  CoffeeTable     -1.972         0.002          2.615          0              270            0
  35  ArmChair        -0.875         0.005          0.566          0              0              0
  36  Shelf           -0.340         0.480          3.046          0              270            0
  37  Shelf           -0.340         0.649          3.046          0              270            0
  38  Shelf           -0.340         0.603          2.312          0              270            0
  39  Shelf           -0.340         0.448          2.678          0              270            0
  40  Shelf           -0.340         0.308          2.312          0              270            0
  41  TVStand         -0.335         0.005          2.679          0              270            0
  42  Shelf           -0.340         0.279          3.046          0              270            0
  43  Sofa            -4.566         0.009          1.880          0              90             0
  44  Sofa            -2.124         0.009          4.558          0              180            0
  45  NorthWall
  46  SouthWall
  47  SouthWall

Plan:
STEP 1: Turn around and take a step then turn right and walk across the room, turn right at the table be the wall then turn right to face the pallet that's in the middle of the room | STEP 2: Pick up the keys that are laying on the pallet | STEP 3: turn right and walk to the couch then turn left and walk to the end of the couch and then face the couch | STEP 4: Place the keys on the couch on the very right of the laptop | STEP 5: Turn right and walk to the wall, then turn right and face the table that is against the wall | STEP 6: Pick up the keys that are closest to you on the left side of the table | STEP 7: Turn right and walk to the other end of the couch then turn and face the couch | STEP 8: Place the keys on the couch to the right other keys that are already there. | END