Task: put two sets of keys on a sofa

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -2.0           0.901          3.0            0              0              0
   1  Book            -1.200         0.712          3.649          0              0              0              31
   2  Book            -3.075         0.565          0.661          0              0              0              33
   3  Watch           0.880          0.240          0.387          0              0              0              32
   4  Watch           0.373          0.240          0.387          0              0              0              32
   5  KeyChain        1.006          0.714          0.583          0              0              0              28
   6  KeyChain        -2.093         0.448          2.601          0              0              0              29
   7  KeyChain        0.880          0.718          0.502          0              0              0              28
   8  CreditCard      -0.601         0.546          0.830          0              0              0              30
   9  Box             -1.351         0.734          0.471          0              180            0              30
  10  Book            -2.824         0.565          0.568          0              0              0              33
  11  Box             0.332          0.892          0.488          0              0              0              28
  12  Laptop          -1.461         0.446          2.521          0              0              0              29
  13  KeyChain        -1.840         0.448          2.601          0              0              0              29
  14  Pillow          -0.506         0.664          0.431          36.288         0              0              30
  15  Statue          0.858          0.710          0.327          0              0              0              28
  16  RemoteControl   -2.699         0.564          0.382          0              0              0              33
  17  CreditCard      -1.852         0.546          0.560          0              0              0              30
  18  Watch           0.247          0.240          0.624          0              0              0              32
  19  Painting        -3.049         1.690          4.341          0              0              0
  20  Curtains        -3.973         2.254          1.453          0              0              0
  21  Painting        -1.096         1.773          -0.017         0              0              0
  22  LightSwitch     -0.129         1.407          4.348          0              180            0
  23  GarbageCan      -0.376         0.003          4.103          0              180            0
  24  Television      -1.504         1.189          4.126          0              180            0
  25  HousePlant      -2.015         0.447          2.357          0              0              0
  26  FloorLamp       -3.686         -0.001         4.013          0              0              0
  27  Window          -4.051         1.197          1.312          90             270            0
  28  SideTable       0.626          0.006          0.340          0              0              0
  29  CoffeeTable     -1.735         0.005          2.360          0              0              0
  30  Sofa            -1.135         -0.004         0.517          0              0              0
  31  TVStand         -1.566         0.004          3.869          0              0              0
  32  Shelf           0.622          0.238          0.340          0              0              0
  33  ArmChair        -3.063         0.000          0.517          0              0              0
  34  NorthWall
  35  EastWall
  36  SouthWall
  37  WestWall

Plan:
STEP 1: turn to face the coffee table | STEP 2: pick up the set of keys on the right on the top of the coffee table | STEP 3: walk to face the sofa | STEP 4: put the keys on the sofa to the left of the box | STEP 5: walk to face the coffee table | STEP 6: pick up the set of keys from the coffee table | STEP 7: walk to face the sofa | STEP 8: put the keys to the right of the box on the sofa | END