Task: place both sets of keys inside of the safe

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -2.75          0.902          3.5            0              0              0
   1  KeyChain        -4.294         0.795          0.920          0              0              0              28
   2  KeyChain        -0.742         0.693          6.004          0              315            0              50
   3  CellPhone       -2.629         0.322          2.384          0              0              0              66
   4  RemoteControl   -0.601         0.743          1.202          0              0              0              35
   5  Pillow          -2.629         0.375          2.617          0              0              0              66
   6  Laptop          -0.108         0.739          1.495          0              0              0              35
   7  Laptop          -1.783         0.653          -2.074         0              0              0              56
   8  Box             -1.913         0.681          6.095          0              0              0              58
   9  Vase            -2.465         0.664          -2.074         0              0              0              56
  10  CellPhone       -0.531         0.695          5.999          0              315            0              50
  11  WateringCan     -3.580         0.003          5.507          2.684          0              0              Floor|-04.41|
  12  KeyChain        -3.381         0.394          3.615          0              90             0              59
  13  Vase            -4.242         0.789          1.181          0              0              0              28
  14  Vase            -4.228         0.789          0.756          0              0              0              28
  15  Laptop          -3.687         0.392          3.615          0              90             0              59
  16  Pillow          -3.585         0.451          4.148          0              90             0              59
  17  RemoteControl   -3.483         0.395          3.348          0              90             0              59
  18  CreditCard      -1.102         0.654          -2.074         0              0              0              56
  19  Vase            -4.225         0.789          0.382          0              0              0              28
  20  Statue          -4.223         1.263          0.399          0              0              0              25
  21  Statue          -1.685         0.462          4.325          0              0              0              69
  22  Statue          -1.948         0.506          4.122          0              0              0              69
  23  Shelf           -4.253         2.157          0.771          0              0              0
  24  Painting        -3.368         1.741          -0.298         0              0              0
  25  Shelf           -4.253         1.306          0.771          0              0              0
  26  Painting        -1.756         1.424          -3.595         0              0              0
  27  Shelf           -4.253         1.690          0.771          0              0              0
  28  Shelf           -4.261         0.833          0.771          0              0              0
  29  Drawer          0.411          0.581          1.221          0              180            0
  30  Drawer          -0.000         0.170          1.221          0              180            0
  31  Drawer          -0.000         0.581          1.221          0              180            0
  32  Drawer          0.411          0.375          1.221          0              180            0
  33  Drawer          0.411          0.170          1.221          0              180            0
  34  Drawer          -0.000         0.375          1.221          0              180            0
  35  Desk            -0.352         0.003          1.371          0              180            0
  36  FloorLamp       0.391          -0.001         5.157          0              0              0
  37  Window          -2.828         0.470          -0.157         90             199.328        0
  38  Window          -4.410         1.702          1.787          90             270            0
  39  Window          -3.638         1.702          6.735          90             0              0
  40  Window          -4.410         1.702          2.790          90             270            0
  41  Window          -2.827         1.702          -0.157         90             199.328        0
  42  Window          -0.131         1.702          6.735          90             0              0
  43  Window          -1.013         1.702          -0.154         90             159.633        0
  44  Window          -4.410         1.702          5.980          90             270            0
  45  Television      -0.153         1.176          5.790          0              225            0
  46  GarbageCan      0.357          0.003          2.159          0              90             0
  47  DeskLamp        0.277          0.735          1.381          0              0              0
  48  HousePlant      -1.819         0.641          -2.011         0              315            0
  49  LightSwitch     -2.740         1.495          -0.405         0              180            0
  50  TVStand         -0.118         0.001          5.874          0              45             0
  51  Chair           -1.353         0.002          -2.872         0              349.207        0
  52  Chair           -2.220         0.002          -1.298         0              168.118        0
  53  Chair           -1.515         0.007          -1.331         358.639        187.454        0
  54  Chair           -2.189         0.002          -2.835         0              2.328          0
  55  Safe            0.174          0.001          -0.071         0              323.940        0
  56  DiningTable     -1.783         0.003          -2.039         0              0              0
  57  Chair           -0.636         0.010          0.993          0              358.396        0
  58  Sofa            -2.161         0.006          6.115          0              180            0
  59  Sofa            -3.782         0.006          4.153          0              90             0
  60  Shelf           -1.095         0.607          1.321          0              180            0
  61  Shelf           -1.267         0.607          1.321          0              180            0
  62  Shelf           -1.267         0.401          1.321          0              180            0
  63  Shelf           -1.095         0.196          1.320          0              180            0
  64  Shelf           -1.095         0.401          1.321          0              180            0
  65  Shelf           -1.267         0.196          1.320          0              180            0
  66  ArmChair        -2.628         0.009          2.421          0              0              0
  67  Chair           -0.485         0.010          4.452          0              270            0
  68  Chair           -0.431         0.010          3.595          0              270            0
  69  CoffeeTable     -1.965         0.000          4.187          0              0              0
  70  NorthWall
  71  EastWall
  72  SouthWall
  73  WestWall

Plan:
STEP 1: turn around and walk to the other side of the room to face the white shelves on the right side of the room | STEP 2: grab the keys off of the shelf there | STEP 3: turn around and walk over to the safe on the floor of the opposite side of the room | STEP 4: place the keys in the safe there | STEP 5: turn around and walk to the end of the desk on the right, then hang a right turn and walk back over to the middle couch in front of the coffee table | STEP 6: grab the keys on the couch | STEP 7: turn around and walk over to the corner of the room on the left  | STEP 8: place the keys inside of the safe there | END