Task: put two sets of keys on sofa

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.25          0.900          -0.5           0              0              0
   1  Watch           0.087          0.136          -0.334         0              180            0              32
   2  KeyChain        1.996          0.870          1.871          0              0              0              24
   3  CreditCard      1.300          0.411          1.401          0              0              0              29
   4  Box             -0.636         0.778          -1.469         0              0              0              27
   5  Laptop          0.228          0.358          -0.306         0              349.282        0              36
   6  CreditCard      0.170          0.367          0.130          0              0              0              36
   7  Newspaper       2.814          0.471          0.247          0              0              0              22
   8  RemoteControl   0.678          0.412          1.466          0              0              0              29
   9  Pillow          -0.875         0.575          -0.798         0              267.956        341.124        26
  10  KeyChain        0.132          0.495          -1.736         0              0              0              25
  11  Watch           0.227          0.368          0.032          0              0              0              36
  12  Statue          2.149          0.877          1.704          0              0              0              24
  13  Curtains        1.199          0.0            -2.440         0              0              0
  14  HousePlant      1.919          1.717          -2.187         0              315            0
  15  FloorLamp       -1.160         -0.003         1.040          0              0              0
  16  LightSwitch     -1.006         1.286          1.950          0              180            0
  17  Television      0.858          0.884          1.731          0              180            0
  18  Painting        3.414          1.708          -0.156         90             270            0
  19  Painting        -1.449         1.787          -0.342         90             270            0
  20  GarbageCan      1.296          9.894          -2.187         0              0              0
  21  Window          0.653          1.550          -2.470         90             180            0
  22  Sofa            2.868          -0.002         0.248          0              270            0
  23  Drawer          1.996          0.779          1.705          0              180            0
  24  SideTable       1.995          0.004          1.746          0              180            0
  25  ArmChair        0.224          -0.010         -1.724         0              0              0
  26  Sofa            -1.007         0.006          -0.207         1.149          90             0
  27  SideTable       -0.683         0.004          -1.600         0              0              0
  28  SideTable       2.956          0.004          1.568          0              0              0
  29  TVStand         0.838          -0.006         1.582          0              0              0
  30  Drawer          0.472          0.271          -0.165         0              270            0
  31  Drawer          -0.018         0.272          -0.165         0              270            0
  32  Drawer          -0.018         0.168          -0.165         0              270            0
  33  Drawer          -0.018         0.064          -0.165         0              270            0
  34  Drawer          0.472          0.063          -0.165         0              270            0
  35  Drawer          0.472          0.167          -0.165         0              270            0
  36  CoffeeTable     0.226          -0.003         -0.164         0              270            0
  37  NorthWall
  38  EastWall
  39  SouthWall
  40  WestWall

Plan:
STEP 1: walk to face table to right of tv | STEP 2: pick up keys from table | STEP 3: turn left, walk to face sofa | STEP 4: put keys on sofa | STEP 5: turn left to face chair | STEP 6: pick up keys from chair | STEP 7: turn around, walk to face sofa | STEP 8: put keys on sofa to left of other keys | END