Task: put 2 set of keys on top of a book shelf

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.5           0.900          -1.25          0              90             0
   1  Watch           1.525          0.757          0.391          0              270            0              34
   2  Watch           -0.051         0.473          0.266          0              90             0              31
   3  Statue          0.031          0.483          0.618          0              90             0              31
   4  Statue          0.031          0.487          -0.086         0              90             0              31
   5  KeyChain        -1.568         0.489          1.624          0              0              0              41
   6  KeyChain        -1.113         0.327          1.051          0              90             0              42
   7  KeyChain        -1.349         0.327          -0.171         0              90             0              42
   8  CreditCard      -1.192         0.327          0.643          0              90             0              42
   9  CreditCard      1.675          0.756          -0.208         0              270            0              34
  10  RemoteControl   -0.134         0.476          0.795          0              90             0              31
  11  Laptop          -0.301         0.471          0.089          0              90             0              31
  12  Box             -0.134         0.653          0.442          0              90             0              31
  13  Laptop          -1.270         0.325          0.847          0              90             0              42
  14  CreditCard      -0.399         0.307          2.119          0              0              0              46
  15  KeyChain        0.319          0.291          2.037          0              0              0              45
  16  Vase            1.600          0.765          0.091          0              270            0              34
  17  Vase            -1.800         1.616          -1.785         0              0              0              43
  18  Pillow          -1.235         0.461          -0.025         0              75.000         0              42
  19  RemoteControl   -1.503         0.491          1.883          0              0              0              41
  20  Watch           -1.762         0.489          1.624          0              0              0              41
  21  Vase            -1.799         1.315          -1.470         0              0              0              44
  22  Statue          1.675          0.767          0.691          0              270            0              34
  23  Television      1.826          1.241          0.248          0              270            0
  24  LightSwitch     -2.0           1.332          3.920          0              90             0
  25  Window          -0.216         1.495          -1.878         90             0              0
  26  HousePlant      -1.780         0.468          1.965          0              0              0
  27  Painting        -2.0           1.577          0.418          90             270            0
  28  GarbageCan      1.767          -0.001         3.878          0              0              0
  29  FloorLamp       1.228          0.000          3.744          0              0              0
  30  Painting        -0.096         1.578          4.050          90             0              0
  31  CoffeeTable     -0.150         0.000          0.421          0              270            0
  32  Shelf           1.663          0.474          0.609          0              270            0
  33  Shelf           1.663          0.273          0.609          0              270            0
  34  TVStand         1.669          -0.000         0.243          0              270            0
  35  Shelf           1.663          0.302          -0.124         0              270            0
  36  Shelf           1.663          0.442          0.241          0              270            0
  37  Shelf           1.663          0.597          -0.124         0              270            0
  38  Shelf           1.663          0.643          0.609          0              270            0
  39  Cabinet         -1.767         0.729          -1.593         0              91.801         0
  40  Shelf           -1.769         2.041          -1.593         0              91.801         0
  41  SideTable       -1.567         -0.002         1.818          0              90             0
  42  Sofa            -1.445         0.008          0.420          0              90             0
  43  Shelf           -1.769         1.744          -1.593         0              91.801         0
  44  Shelf           -1.768         1.452          -1.593         0              91.801         0
  45  ArmChair        0.396          0.005          2.194          0              180            0
  46  ArmChair        -0.633         0.005          2.194          0              180            0
  47  ShelvingUnit    -1.786         0.001          -1.592         0              91.801         0
  48  NorthWall
  49  EastWall
  50  SouthWall
  51  WestWall

Plan:
STEP 1: turn to the left go forward go left towards the black sofa | STEP 2: pick up the set of keys from the black sofa  | STEP 3: turn to the left go right towards the black book shelf | STEP 4: put the keys on top of the book shelf | STEP 5: turn to the right  | STEP 6: pick up another set of keys from the black sofa | STEP 7: turn to the left go right | STEP 8: put the keys on top of the book shelf | END