Task: Place two key-chains on a couch

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           2.25           0.900          -1.25          0              90             0
   1  Newspaper       2.737          0.475          0.247          0              0              0              29
   2  Statue          0.114          0.374          0.032          0              0              0              43
   3  Statue          2.149          0.876          1.704          0              0              0              31
   4  KeyChain        1.300          0.410          1.401          0              0              0              36
   5  KeyChain        -1.091         0.621          -0.001         0              180            0              33
   6  KeyChain        3.042          0.443          0.647          0              90             0              29
   7  CreditCard      0.223          0.474          -1.577         0              0              0              32
   8  CreditCard      -0.050         0.487          -1.656         0              0              0              32
   9  RemoteControl   0.367          0.412          1.466          0              0              0              36
  10  RemoteControl   0.522          0.412          1.531          0              0              0              36
  11  Box             -0.636         0.778          -1.469         0              0              0              34
  12  Laptop          0.228          0.358          -0.306         0              349.282        0              43
  13  CreditCard      0.339          0.367          0.032          0              0              0              43
  14  Newspaper       0.216          0.522          -1.567         0              350.059        0              32
  15  RemoteControl   3.014          0.604          1.449          0              0              0              35
  16  Pillow          -0.875         0.575          -0.798         0              267.956        341.124        33
  17  KeyChain        0.989          0.411          1.401          0              0              0              36
  18  Watch           1.300          0.411          1.531          0              0              0              36
  19  Statue          1.842          0.876          1.746          0              0              0              31
  20  Curtains        1.199          0.0            -2.440         0              0              0
  21  HousePlant      1.919          1.717          -2.187         0              315            0
  22  FloorLamp       -1.160         -0.003         1.040          0              0              0
  23  LightSwitch     -1.006         1.286          1.950          0              180            0
  24  Television      0.858          0.884          1.731          0              180            0
  25  Painting        3.414          1.708          -0.156         90             270            0
  26  Painting        -1.449         1.787          -0.342         90             270            0
  27  GarbageCan      1.296          9.894          -2.187         0              0              0
  28  Window          0.653          1.550          -2.470         90             180            0
  29  Sofa            2.868          -0.002         0.248          0              270            0
  30  Drawer          1.996          0.779          1.705          0              180            0
  31  SideTable       1.995          0.004          1.746          0              180            0
  32  ArmChair        0.224          -0.010         -1.724         0              0              0
  33  Sofa            -1.007         0.006          -0.207         1.149          90             0
  34  SideTable       -0.683         0.004          -1.600         0              0              0
  35  SideTable       2.956          0.004          1.568          0              0              0
  36  TVStand         0.838          -0.006         1.582          0              0              0
  37  Drawer          0.472          0.271          -0.165         0              270            0
  38  Drawer          -0.018         0.272          -0.165         0              270            0
  39  Drawer          -0.018         0.168          -0.165         0              270            0
  40  Drawer          -0.018         0.064          -0.165         0              270            0
  41  Drawer          0.472          0.063          -0.165         0              270            0
  42  Drawer          0.472          0.167          -0.165         0              270            0
  43  CoffeeTable     0.226          -0.003         -0.164         0              270            0
  44  NorthWall
  45  EastWall
  46  SouthWall
  47  WestWall

Plan:
STEP 1: Turn around and walk to the TV | STEP 2: Pick up the left-side key-chain from the TV table | STEP 3: Turn around and walk to the couch with a newspaper | STEP 4: Put the key-chain on the couch | STEP 5: Turn right, again turn right and go to the right side of the sofa with a cushion | STEP 6: Pick up the key-chain from the sofa | STEP 7: Go back to the couch | STEP 8: Place the key-chain next to the first key-chain | END