Task: Putting two sets of keys on a black table

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           1.5            0.910          2.75           0              180            0
   1  Bowl            2.576          0.809          2.833          0              0              0              45
   2  Bowl            2.471          0.809          3.715          0              0              0              45
   3  CD              -0.684         0.913          3.982          0              0              0              34
   4  CellPhone       -1.217         0.399          -1.401         0              90             0              43
   5  Pen             2.471          0.813          3.274          0              0              0              45
   6  CreditCard      -0.815         0.913          4.900          0              0              0              34
   7  CreditCard      2.618          0.097          0.819          0              0              0              47
   8  KeyChain        2.275          0.400          -0.594         0              270            0              49
   9  KeyChain        -1.397         0.400          -1.227         0              180            0              43
  10  Book            2.367          0.807          3.274          0              0              0              45
  11  RemoteControl   -1.012         0.914          4.900          0              0              0              34
  12  RemoteControl   -0.815         0.914          4.35           0              90             0              34
  13  AlarmClock      -0.881         0.921          4.533          0              0              0              34
  14  AlarmClock      2.889          0.816          3.494          0              0              0              45
  15  Laptop          -0.833         0.712          2.539          0              0              0              31
  16  Laptop          -0.881         0.911          4.166          0              0              0              34
  17  Book            2.575          0.460          0.428          0              0              0              48
  18  AlarmClock      2.496          0.753          -1.444         0              0              0              42
  19  CellPhone       -0.833         0.714          1.973          0              0              0              31
  20  Bowl            -0.749         0.915          4.717          0              0              0              34
  21  CreditCard      2.471          0.745          -1.373         0              90             0              42
  22  KeyChain        2.770          0.843          0.755          0              180            0              46
  23  RemoteControl   2.471          0.808          2.613          0              0              0              45
  24  Laptop          -1.038         0.397          -1.227         0              90             0              43
  25  Pencil          2.609          0.846          1.017          0              0              0              46
  26  Pillow          -0.959         0.752          2.977          0              0              0              31
  27  Pillow          -0.116         0.785          2.539          0              0              0              31
  28  CD              -1.307         0.399          -0.966         0              90             0              43
  29  Pen             2.545          0.750          -1.300         0              0              0              42
  30  Mug             2.496          0.742          -1.659         0              0              0              42
  31  Bed             -0.594         0.009          2.298          0              0              0
  32  Mirror          -1.184         1.603          4.348          0              0              0
  33  Television      2.738          1.330          0.622          0              270            0
  34  CounterTop      -0.890         0.951          4.349          0              0              0
  35  LightSwitch     0.800          1.371          5.245          0              90             0
  36  Painting        2.992          1.529          3.415          90             270            0
  37  Painting        2.992          1.529          2.553          90             270            0
  38  DeskLamp        2.625          0.772          -1.469         0              0              0
  39  DeskLamp        2.668          0.810          3.082          0              358.947        0
  40  GarbageCan      -0.626         -0.009         3.742          0              0              0
  41  Window          -0.453         1.450          -2.058         90             180            0
  42  SideTable       2.565          0.009          -1.534         0              0              0
  43  ArmChair        -1.277         0.009          -1.169         0              90             0
  44  Blinds          -0.5           2.174          -1.957         0              0              0
  45  Desk            2.572          0.011          3.054          0              270            0
  46  SideTable       2.645          0.009          0.624          0              270            0
  47  Drawer          2.525          0.214          0.624          0              270            0
  48  Drawer          2.525          0.578          0.624          0              270            0
  49  ArmChair        2.424          0.009          -0.564         0              270            0
  50  LaundryHamper   3.457          0.009          4.555          0              270            0
  51  Chair           2.591          0.020          2.015          0              0              0
  52  Chair           2.184          0.020          3.440          0              120.016        0
  53  Chair           2.211          0.020          2.592          0              74.981         0
  54  NorthWall
  55  EastWall
  56  SouthWall
  57  WestWall

Plan:
STEP 1: Walk forward and stop at the couch on the left | STEP 2: Grab the keys off of the couch | STEP 3: Turn right and stop at the black table | STEP 4: Put the keys on the table | STEP 5: Turn around and head to the couch with the laptop | STEP 6: Grab the keys off of the couch | STEP 7: Turn around and go to the black table | STEP 8: Put the keys on the table | END