Task: Put two sets of keys on a table.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           2.75           0.910          5.5            0              90             0
   1  Mug             2.930          0.841          1.017          0              90             0              45
   2  Mug             2.930          0.841          0.230          0              270            0              45
   3  CD              -0.815         0.913          4.35           0              0              0              33
   4  CD              2.770          0.842          0.755          0              0              0              45
   5  CellPhone       -0.594         0.714          2.539          0              0              0              30
   6  Pencil          2.533          0.464          0.819          0              0              0              47
   7  CreditCard      -1.307         0.399          -1.053         0              90             0              42
   8  KeyChain        -1.397         0.400          -1.140         0              180            0              42
   9  KeyChain        2.262          0.809          3.715          0              90             0              44
  10  Book            2.471          0.806          2.392          0              0              0              44
  11  Book            2.364          0.399          -0.768         0              270            0              48
  12  RemoteControl   2.399          0.745          -1.422         0              90             0              53
  13  RemoteControl   2.367          0.808          3.053          0              0              0              44
  14  AlarmClock      2.609          0.851          1.017          0              0              0              45
  15  Laptop          2.576          0.805          3.715          0              0              0              44
  16  Book            -0.749         0.912          4.166          0              0              0              33
  17  AlarmClock      -1.012         0.921          4.166          0              0              0              33
  18  CellPhone       2.889          0.808          3.494          0              0              0              44
  19  Bowl            2.576          0.810          2.833          0              0              0              44
  20  CreditCard      2.889          0.808          3.274          0              0              0              44
  21  KeyChain        -0.684         0.914          4.533          0              0              0              33
  22  RemoteControl   2.399          0.747          -1.619         0              90             0              53
  23  Laptop          -0.946         0.911          4.900          0              0              0              33
  24  Pencil          2.575          0.100          0.330          0              0              0              46
  25  Pillow          -0.959         0.752          2.977          0              0              0              30
  26  Pillow          -0.833         0.785          1.690          0              0              0              30
  27  CD              -0.815         0.913          3.799          0              0              0              33
  28  Pen             2.545          0.751          -1.659         0              0              0              41
  29  Mug             2.576          0.805          3.053          0              0              0              44
  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 around and go forward, turn to the left and go to the table where the computer is. | STEP 2: Pick up the keys that are on the table next to the computer.  | STEP 3: Turn around, go forward, hang a left and go to the wall, turn to the left to face the small round table.  | STEP 4: Put the keys down on the table between the two remote controls.  | STEP 5: Turn to the left, go forward then hang a left, go to wall then turn left to face the green chair across the room. | STEP 6: Pick up the keys that are in the green chair. | STEP 7: Turn to the left, go forward, turn right and go to the wall, turn left and go to the small round table.  | STEP 8: Put the keys on the table to the right of the rightmost remote control. | END