Task: Getting the keys to the couch

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -3.75          0.906          4.5            0              270            0
   1  TissueBox       -0.465         0.184          2.363          0              270            0              43
   2  Watch           -1.969         0.195          2.986          0              0              0              37
   3  Watch           -4.697         0.512          3.476          0              0              0              35
   4  Newspaper       -0.782         0.379          0.712          0              0              0              38
   5  Newspaper       -0.499         0.183          3.098          0              270            0              45
   6  KeyChain        -0.102         0.762          2.228          0              270            0              44
   7  KeyChain        -1.816         0.198          2.528          0              0              0              37
   8  RemoteControl   -0.328         0.766          3.128          0              270            0              44
   9  RemoteControl   -2.045         0.196          2.528          0              0              0              37
  10  Pillow          -2.865         0.484          4.491          0              0              0              47
  11  Box             -4.582         0.521          2.146          0              270            0              46
  12  CreditCard      -0.461         0.485          2.414          0              270            0              41
  13  TissueBox       -2.121         0.197          2.986          0              0              0              37
  14  Laptop          -0.335         0.758          2.38           0              33.790         0              44
  15  Vase            -2.880         1.518          0.144          0              0              0
  16  RemoteControl   -1.816         0.199          2.872          0              0              0              37
  17  Pillow          -1.379         0.479          4.520          0              0              0              47
  18  KeyChain        -4.566         0.512          3.432          0              180            0              35
  19  Watch           -4.522         0.512          3.344          0              0              0              35
  20  Newspaper       -0.253         0.763          2.978          0              270            0              44
  21  Statue          -0.204         0.191          2.678          0              270            0              42
  22  Statue          -0.427         0.495          2.311          0              270            0              41
  23  Curtains        -1.030         2.113          0.0            0              0              0
  24  Curtains        -3.927         2.113          0.0            0              0              0
  25  HousePlant      -3.127         1.507          0.118          0              0              0
  26  Television      0.0            1.376          2.661          0              270            0
  27  GarbageCan      -0.227         0.005          4.778          0              0              0
  28  DeskLamp        -4.658         0.508          3.318          0              270            0
  29  Painting        -2.507         1.817          0.108          90             0              0
  30  FloorLamp       -4.596         0.006          0.399          0              65.211         0
  31  LightSwitch     -3.233         1.343          5.0            0              180            0
  32  Window          -1.011         1.391          0.029          90             180            0
  33  Window          -3.900         1.391          0.029          90             180            0
  34  Drawer          -4.433         0.473          3.344          0              90             0
  35  SideTable       -4.612         0.009          3.346          0              90             0
  36  Chair           -4.572         0.005          3.862          0              113.899        0
  37  CoffeeTable     -1.972         0.002          2.615          0              270            0
  38  ArmChair        -0.875         0.005          0.566          0              0              0
  39  Shelf           -0.340         0.480          3.046          0              270            0
  40  Shelf           -0.340         0.649          3.046          0              270            0
  41  Shelf           -0.340         0.603          2.312          0              270            0
  42  Shelf           -0.340         0.448          2.678          0              270            0
  43  Shelf           -0.340         0.308          2.312          0              270            0
  44  TVStand         -0.335         0.005          2.679          0              270            0
  45  Shelf           -0.340         0.279          3.046          0              270            0
  46  Sofa            -4.566         0.009          1.880          0              90             0
  47  Sofa            -2.124         0.009          4.558          0              180            0
  48  NorthWall
  49  SouthWall
  50  SouthWall

Plan:
STEP 1: Walk to the table | STEP 2: Pick the keys up from the table | STEP 3: Carry them to the couch | STEP 4: Set them down on the couch cushion | STEP 5: Walk back to the table | STEP 6: Grab the other set of keys from the table | STEP 7: Carry them to the couch | STEP 8: Set them down on the couch cushion | END