Task: Put two set of keys on the cabinet

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.75           0.900          1.75           0              270            0
   1  Statue          2.437          0.691          -1.717         0              0              0              59
   2  CD              -1.440         0.409          0.441          0              0              0              55
   3  CD              2.283          0.680          -1.671         0              0              0              59
   4  Pen             -1.496         0.223          0.162          0              0              0              53
   5  Pen             -1.798         0.058          0.857          0              54.373         0              30
   6  CreditCard      -1.636         1.637          -1.959         0              90             0              40
   7  KeyChain        2.129          0.434          1.675          0              90             0              62
   8  KeyChain        2.266          0.084          -1.639         0              180            0              60
   9  AlarmClock      -1.583         0.972          0.464          0              0              0              46
  10  AlarmClock      -1.730         1.637          -2.073         0              90             0              40
  11  Laptop          1.02           0.773          0.188          0              0              0              28
  12  Book            -1.494         0.035          0.443          0              0              0              45
  13  KeyChain        1.731          0.682          2.308          0              0              0              56
  14  AlarmClock      -1.730         1.146          -1.959         0              90             0              41
  15  Pillow          1.743          0.836          -0.401         0              0              0              28
  16  Pillow          0.652          0.794          -1.531         0              0              0              28
  17  Vase            -1.662         1.626          -1.791         0              0              0              40
  18  Laptop          -1.628         0.965          0.084          0              104.999        0              46
  19  Vase            -1.657         0.975          -0.540         0              0              0              46
  20  Pencil          -1.664         0.611          0.072          0              0              0              55
  21  CreditCard      -1.878         0.972          0.062          0              0              0              46
  22  Boots           -1.842         0.000          -1.077         0              135            0
  23  Pen             -1.636         1.152          -2.415         0              90             0              41
  24  CellPhone       1.576          0.681          2.127          0              0              0              56
  25  CD              -1.436         0.971          -0.540         0              0              0              46
  26  Bowl            -1.684         1.135          -2.300         0              346.900        0              41
  27  Statue          -1.878         0.980          -0.339         0              90             0              46
  28  Bed             1.017          0.003          -0.686         0              180            0
  29  HousePlant      -1.749         0.971          0.463          0              0              0
  30  GarbageCan      -1.665         -0.000         0.953          0              45             0
  31  Painting        0.381          1.976          -1.895         90             0              0
  32  Painting        0.879          1.976          -1.895         90             0              0
  33  Painting        1.373          1.976          -1.895         90             0              0
  34  LightSwitch     -0.164         1.085          2.450          0              180            0
  35  Mirror          -1.950         1.735          -0.206         0              270            0
  36  Window          -1.098         1.570          -3.230         90             0              0
  37  DeskLamp        1.404          0.668          2.209          0              0              0
  38  DeskLamp        2.596          0.668          -1.710         0              0              0
  39  Blinds          -1.062         2.361          -3.173         0              0              0
  40  Shelf           -1.675         1.871          -2.053         0              90             0
  41  Shelf           -1.675         1.383          -2.053         0              90             0
  42  Drawer          -1.715         0.832          -2.053         0              90             0
  43  ShelvingUnit    -1.723         0.007          -2.053         0              90             0
  44  Drawer          -1.713         0.339          -2.053         0              90             0
  45  Drawer          -1.629         0.104          0.243          0              90             0
  46  Dresser         -1.674         0.000          -0.153         0              90             0
  47  Drawer          -1.630         0.868          -0.550         0              90             0
  48  Drawer          -1.630         0.680          0.243          0              90             0
  49  Drawer          -1.629         0.104          -0.550         0              90             0
  50  Drawer          -1.630         0.680          -0.550         0              90             0
  51  Drawer          -1.630         0.868          0.243          0              90             0
  52  Drawer          -1.629         0.486          -0.550         0              90             0
  53  Drawer          -1.629         0.291          0.243          0              90             0
  54  Drawer          -1.629         0.291          -0.550         0              90             0
  55  Drawer          -1.630         0.486          0.243          0              90             0
  56  SideTable       1.576          -0.001         2.137          0              180            0
  57  Drawer          1.576          0.163          2.070          0              180            0
  58  Drawer          1.576          0.455          2.070          0              180            0
  59  SideTable       2.437          -0.001         -1.603         0              0              0
  60  Drawer          2.438          0.163          -1.536         0              0              0
  61  Drawer          2.438          0.455          -1.536         0              0              0
  62  ArmChair        2.393          -0.001         1.943          0              180            0
  63  NorthWall
  64  EastWall
  65  SouthWall
  66  WestWall

Plan:
STEP 1: Turn around to your left head to the couch on your right  | STEP 2: Pick up the keys on the couch | STEP 3: Turn left move forward then head to the first cabinet | STEP 4: Put the keys on top of the cabinet | STEP 5: Turn right then walk toward the table beside the couch | STEP 6: Pick up the keys on the table | STEP 7: Turn left then walk forward head back to the cabinet  | STEP 8: Put the keys on the left side of the cabinet | END