Task: Put two sets of keys on the 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           -1.25          0.900          -0.25          0              270            0
   1  Newspaper       -0.132         0.321          1.592          0              91.372         0              42
   2  Pencil          1.466          0.476          0.594          0              180            0              35
   3  Pencil          4.007          0.879          1.076          0              0              0              44
   4  Pen             1.466          0.483          0.431          0              180            0              35
   5  Pen             1.324          0.479          0.431          0              180            0              35
   6  KeyChain        2.016          0.840          -0.623         0              0              0              37
   7  KeyChain        1.380          0.337          1.819          0              0              0              43
   8  CreditCard      2.033          0.477          0.186          0              180            0              35
   9  RemoteControl   0.967          0.337          1.819          0              0              0              25
  10  RemoteControl   -0.271         0.324          1.810          0              91.372         0              42
  11  Box             -0.29          1.074          -0.714         0              270            0              Floor|+00.00|
  12  Newspaper       1.586          0.334          1.527          0              0              0              43
  13  Laptop          1.805          0.47           0.499          0              0              0              35
  14  WateringCan     1.621          0.056          -0.697         0              0              0              40
  15  TissueBox       3.888          0.879          1.181          0              0              0              44
  16  KeyChain        1.174          0.336          1.600          0              0              0              43
  17  Pen             -0.624         0.845          -0.77          0              0              0              39
  18  Boots           4.005          0.001          1.707          1.563          246.167        0
  19  Pencil          -0.501         0.071          -0.804         0              0              0              38
  20  RemoteControl   1.792          0.337          1.892          0              0              0              43
  21  CreditCard      2.583          0.322          1.798          0              90             0              34
  22  Pillow          0.651          0.395          1.708          0              0              0              25
  23  Statue          -0.532         0.443          -0.738         0              92.244         0              41
  24  Statue          -0.081         0.057          -0.692         0              0              0              38
  25  Sofa            1.174          0.0            1.865          0              0              0
  26  FloorLamp       3.608          0.000          2.163          0              0              0
  27  GarbageCan      3.833          -0.029         -0.495         0              0              0
  28  Television      1.897          1.281          -0.838         0              0              0
  29  Painting        4.070          1.950          0.848          90             270            0
  30  HousePlant      0.387          0.801          -0.725         0              90             0
  31  Window          0.023          2.072          2.484          90             180            0
  32  Window          1.570          2.072          2.484          90             180            0
  33  LightSwitch     -1.399         1.289          1.835          0              90             0
  34  ArmChair        2.655          0.000          1.858          0              180            0
  35  CoffeeTable     1.591          -0.000         0.446          0              180            0
  36  Shelf           1.905          0.588          -0.730         0              0              0
  37  TVStand         1.904          -0.000         -0.770         0              0              0
  38  Shelf           -0.289         0.200          -0.732         0              0              0
  39  TVStand         -0.290         -0.000         -0.772         0              0              0
  40  Shelf           1.905          0.200          -0.730         0              0              0
  41  Shelf           -0.289         0.588          -0.732         0              0              0
  42  ArmChair        -0.270         0.000          1.870          0              181.372        0
  43  Sofa            1.193          0.008          1.865          0              180            0
  44  SideTable       3.946          0.000          0.865          0              270            0
  45  Drawer          3.882          0.774          0.864          0              270            0
  46  NorthWall
  47  EastWall
  48  SouthWall
  49  WestWall

Plan:
STEP 1: Turn around and walk to the long couch between the two chairs.  | STEP 2: Pick up the keys that are closest to the edge, in the center of the couch.  | STEP 3: Turn around and walk toward the fireplace, stopping at the coffee table. | STEP 4: Place the keys on the corner of the table, closest to the fireplace.  | STEP 5: Walk between the fireplace and the table to get to the shelf under the TV.  | STEP 6: Pick up the keys close to the edge of the shelf.  | STEP 7: Turn to your right and go back to the end of the table.  | STEP 8: Place the keys on the table, between the other set of keys and the watch. | END