Task: Put two sets of keys on a chair.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.75          0.901          3.5            0              270            0
   1  Statue          -2.026         0.554          2.840          0              0              0              38
   2  Watch           -4.546         0.887          2.906          0              0              0              29
   3  Watch           -4.567         0.887          2.487          0              0              0              30
   4  KeyChain        0.219          0.708          4.619          0              0              0              43
   5  RemoteControl   -1.990         0.459          0.843          0              0              0              41
   6  RemoteControl   -3.177         0.459          0.752          0              0              0              41
   7  Box             -4.660         0.409          1.817          0              90             0              34
   8  Box             -2.180         0.670          2.428          0              350.086        0              38
   9  WateringCan     -0.277         -0.000         4.860          0              0              0              Floor|+00.38|
  10  CreditCard      -4.656         0.988          1.742          0              0              0              35
  11  KeyChain        -2.405         0.453          2.455          0              0              0              38
  12  Pillow          -3.294         0.624          0.801          0              0              338.090        41
  13  Laptop          -4.873         0.981          3.44           0              83.878         0              35
  14  RemoteControl   -4.569         0.990          3.447          0              0              0              35
  15  Watch           -5.007         0.985          1.742          0              270            0              35
  16  Statue          -2.405         0.554          2.648          0              0              0              38
  17  Curtains        -2.535         2.596          0.111          0              0              0
  18  FloorLamp       -4.661         0.009          0.422          0              0              0
  19  Television      -4.883         1.472          2.434          0              90             0
  20  GarbageCan      -4.810         -0.032         1.236          0              180            0
  21  Painting        -0.293         1.820          0.016          90             0              0
  22  LightSwitch     -1.016         1.243          5.0            0              180            0
  23  Painting        -5.118         1.480          4.396          90             270            0
  24  Painting        -5.118         1.480          0.656          90             270            0
  25  Window          -1.715         1.554          0.006          90             180            0
  26  Window          -3.244         1.554          0.006          90             180            0
  27  DeskLamp        0.015          0.704          4.676          0              0              0
  28  HousePlant      -4.824         0.984          1.572          0              0              0
  29  Drawer          -4.497         0.901          2.854          0              90             0
  30  Drawer          -4.497         0.901          2.339          0              90             0
  31  Cabinet         -4.409         0.498          2.603          0              90             0
  32  Cabinet         -4.409         0.498          3.622          0              90             0
  33  Drawer          -4.497         0.901          3.372          0              90             0
  34  Cabinet         -4.409         0.498          1.569          0              90             0
  35  Dresser         -4.744         4.321          2.595          0              90             0
  36  Drawer          -4.497         0.901          1.818          0              90             0
  37  Cabinet         -4.409         0.498          2.588          0              90             0
  38  CoffeeTable     -2.405         -0.000         2.546          0              0              0
  39  ArmChair        -0.298         0.002          3.310          0              270            0
  40  ArmChair        -0.298         0.002          1.713          0              270            0
  41  Sofa            -2.464         -0.002         0.700          0              0              0
  42  Chair           -4.735         0.011          4.609          1.215          90             0
  43  SideTable       -0.041         0.002          4.619          0              0              0
  44  NorthWall
  45  EastWall
  46  SouthWall
  47  WestWall

Plan:
STEP 1: Turn left and take a half step to your left then walk to the couch in front of you and turn to the right and walk until your are even with the coffee table to your right then turn right to face it. | STEP 2: Pick up the keys in the middle of the coffee table. | STEP 3: Turn right and walk to the chair then turn left and walk until you are even with the other chair to your right and then turn to face it. | STEP 4: Put the keys in the middle of the cushion towards the edge. | STEP 5: Turn left and walk to the wall then turn right and walk to the circular stand with a light on it. | STEP 6: Pick up the keys that are behind the light. | STEP 7: Walk back to where you put the first set of keys. | STEP 8: Put these keys to the right of the other keys. | END