Task: put two sets of keys on couch

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.0            0.900          0.75           0              180            0
   1  Statue          -0.799         0.610          -1.601         0              0              0              31
   2  Statue          0.367          0.417          1.466          0              0              0              33
   3  KeyChain        0.678          0.410          1.466          0              0              0              33
   4  CreditCard      0.834          0.410          1.531          0              0              0              33
   5  CreditCard      0.057          0.367          -0.066         0              0              0              40
   6  RemoteControl   2.226          0.872          1.787          0              0              0              28
   7  RemoteControl   0.989          0.412          1.466          0              0              0              33
   8  Box             2.737          0.640          -0.151         0              0              0              26
   9  Laptop          0.228          0.358          -0.306         0              349.282        0              40
  10  CreditCard      2.899          0.603          1.390          0              0              0              32
  11  Newspaper       1.996          0.877          1.746          0              0              0              28
  12  RemoteControl   -0.862         0.461          -0.400         0              270            0              30
  13  Pillow          -0.875         0.575          -0.798         0              267.956        341.124        30
  14  KeyChain        0.057          0.367          0.032          0              90             0              40
  15  Watch           3.014          0.603          1.686          0              0              0              32
  16  Statue          0.227          0.374          0.032          0              0              0              40
  17  Curtains        1.199          0.0            -2.440         0              0              0
  18  HousePlant      1.919          1.717          -2.187         0              315            0
  19  FloorLamp       -1.160         -0.003         1.040          0              0              0
  20  LightSwitch     -1.006         1.286          1.950          0              180            0
  21  Television      0.858          0.884          1.731          0              180            0
  22  Painting        3.414          1.708          -0.156         90             270            0
  23  Painting        -1.449         1.787          -0.342         90             270            0
  24  GarbageCan      1.296          9.894          -2.187         0              0              0
  25  Window          0.653          1.550          -2.470         90             180            0
  26  Sofa            2.868          -0.002         0.248          0              270            0
  27  Drawer          1.996          0.779          1.705          0              180            0
  28  SideTable       1.995          0.004          1.746          0              180            0
  29  ArmChair        0.224          -0.010         -1.724         0              0              0
  30  Sofa            -1.007         0.006          -0.207         1.149          90             0
  31  SideTable       -0.683         0.004          -1.600         0              0              0
  32  SideTable       2.956          0.004          1.568          0              0              0
  33  TVStand         0.838          -0.006         1.582          0              0              0
  34  Drawer          0.472          0.271          -0.165         0              270            0
  35  Drawer          -0.018         0.272          -0.165         0              270            0
  36  Drawer          -0.018         0.168          -0.165         0              270            0
  37  Drawer          -0.018         0.064          -0.165         0              270            0
  38  Drawer          0.472          0.063          -0.165         0              270            0
  39  Drawer          0.472          0.167          -0.165         0              270            0
  40  CoffeeTable     0.226          -0.003         -0.164         0              270            0
  41  NorthWall
  42  EastWall
  43  SouthWall
  44  WestWall

Plan:
STEP 1: walk to face coffee table | STEP 2: pick up keys from table | STEP 3: walk to face couch with box | STEP 4: put keys on couch | STEP 5: walk to face tv stand | STEP 6: pick up keys from tv stand | STEP 7: walk to face couch with box | STEP 8: put keys on couch | END