Task: Bring two sets of keys to the coffee table

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           0.910          -1.5           0              90             0
   1  Mug             2.680          0.805          3.494          0              0              0              44
   2  CD              -0.881         0.913          4.35           0              0              0              33
   3  CellPhone       -0.684         0.913          4.717          0              0              0              33
   4  CellPhone       -1.217         0.399          -1.053         0              90             0              42
   5  Pen             2.576          0.813          2.392          0              0              0              44
   6  Pencil          2.262          0.810          3.715          0              0              0              44
   7  CreditCard      2.449          0.842          0.755          0              0              0              45
   8  KeyChain        2.529          0.843          0.361          0              0              0              45
   9  Book            2.784          0.806          2.392          0              0              0              44
  10  Book            2.471          0.806          3.053          0              0              0              44
  11  RemoteControl   -0.946         0.914          4.166          0              0              0              33
  12  AlarmClock      -0.749         0.921          4.533          0              0              0              33
  13  AlarmClock      2.471          0.816          2.392          0              0              0              44
  14  Pillow          -1.073         0.785          1.973          0              0              0              30
  15  Laptop          2.784          0.805          2.833          0              0              0              44
  16  Book            -0.946         0.912          4.533          0              0              0              33
  17  AlarmClock      2.889          0.816          3.715          0              0              0              44
  18  CellPhone       0.123          0.714          2.256          0              0              0              30
  19  Bowl            -1.054         0.899          3.879          0              0              0              33
  20  CreditCard      -1.012         0.913          4.717          0              0              0              33
  21  KeyChain        2.609          0.843          1.017          0              90             0              45
  22  RemoteControl   2.399          0.745          -1.619         0              90             0              53
  23  Laptop          2.185          0.397          -0.681         0              270            0              48
  24  Pencil          2.471          0.749          -1.472         0              90             0              53
  25  Pillow          -0.116         0.785          1.973          0              0              0              30
  26  Pillow          -0.247         0.752          2.960          0              0              0              30
  27  CD              -0.749         0.913          4.166          0              0              0              33
  28  Pen             2.367          0.813          3.053          0              0              0              44
  29  Mug             2.327          0.742          -1.422         0              90             0              41
  30  Bed             -0.594         0.009          2.298          0              0              0
  31  Mirror          -1.184         1.603          4.348          0              0              0
  32  Television      2.738          1.330          0.622          0              270            0
  33  CounterTop      -0.890         0.951          4.349          0              0              0
  34  LightSwitch     0.800          1.371          5.245          0              90             0
  35  Painting        2.992          1.529          3.415          90             270            0
  36  Painting        2.992          1.529          2.553          90             270            0
  37  DeskLamp        2.625          0.772          -1.469         0              0              0
  38  DeskLamp        2.668          0.810          3.082          0              358.947        0
  39  GarbageCan      -0.626         -0.009         3.742          0              0              0
  40  Window          -0.453         1.450          -2.058         90             180            0
  41  SideTable       2.565          0.009          -1.534         0              0              0
  42  ArmChair        -1.277         0.009          -1.169         0              90             0
  43  Blinds          -0.5           2.174          -1.957         0              0              0
  44  Desk            2.572          0.011          3.054          0              270            0
  45  SideTable       2.645          0.009          0.624          0              270            0
  46  Drawer          2.525          0.214          0.624          0              270            0
  47  Drawer          2.525          0.578          0.624          0              270            0
  48  ArmChair        2.424          0.009          -0.564         0              270            0
  49  LaundryHamper   3.457          0.009          4.555          0              270            0
  50  Chair           2.591          0.020          2.015          0              0              0
  51  Chair           2.184          0.020          3.440          0              120.016        0
  52  Chair           2.211          0.020          2.592          0              74.981         0
  53
  54  NorthWall
  55  EastWall
  56  SouthWall
  57  WestWall

Plan:
STEP 1: Turn left, go forward, turn right and go to the television | STEP 2: Pick up the keys on the right side of the television | STEP 3: Turn around, go forward a bit, turn left, go forward, turn left in front of the coffee table | STEP 4: Put the keys on the coffee table | STEP 5: Turn left, go forward, turn right in front of the television, go forward a bit, turn right | STEP 6: Pick up the keys on the left side of the television | STEP 7: Turn right, go forward a bit, turn left, go forward, turn left in front of the coffee table | STEP 8: Put the keys on the coffee table | END