Task: Place both sets of keys on top of the armchair.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.75          0.901          1.5            0              0              0
   1  Statue          -2.532         0.554          2.263          0              0              0              39
   2  Watch           -2.658         0.453          2.744          0              0              0              39
   3  Watch           -2.152         0.453          2.840          0              0              0              39
   4  KeyChain        -4.567         0.886          2.487          0              270            0              31
   5  KeyChain        -0.216         0.708          4.619          0              180            0              44
   6  RemoteControl   -2.026         0.455          2.552          0              0              0              39
   7  RemoteControl   -4.569         0.987          2.879          0              0              0              36
   8  CreditCard      -4.569         0.988          3.163          0              0              0              36
   9  Box             -4.660         0.409          2.854          0              90             0              32
  10  WateringCan     -0.277         -0.000         4.860          0              0              0              Floor|+00.38|
  11  CreditCard      0.219          0.707          4.619          0              0              0              44
  12  KeyChain        -2.532         0.453          2.840          0              0              0              39
  13  Pillow          -3.294         0.624          0.801          0              0              338.090        42
  14  Laptop          -4.873         0.981          3.44           0              83.878         0              36
  15  RemoteControl   -2.702         0.459          0.934          0              0              0              42
  16  Watch           -4.567         0.886          3.267          0              0              0              34
  17  Statue          -2.279         0.554          2.840          0              0              0              39
  18  Curtains        -2.535         2.596          0.111          0              0              0
  19  FloorLamp       -4.661         0.009          0.422          0              0              0
  20  Television      -4.883         1.472          2.434          0              90             0
  21  GarbageCan      -4.810         -0.032         1.236          0              180            0
  22  Painting        -0.293         1.820          0.016          90             0              0
  23  LightSwitch     -1.016         1.243          5.0            0              180            0
  24  Painting        -5.118         1.480          4.396          90             270            0
  25  Painting        -5.118         1.480          0.656          90             270            0
  26  Window          -1.715         1.554          0.006          90             180            0
  27  Window          -3.244         1.554          0.006          90             180            0
  28  DeskLamp        0.015          0.704          4.676          0              0              0
  29  HousePlant      -4.824         0.984          1.572          0              0              0
  30  Drawer          -4.497         0.901          2.854          0              90             0
  31  Drawer          -4.497         0.901          2.339          0              90             0
  32  Cabinet         -4.409         0.498          2.603          0              90             0
  33  Cabinet         -4.409         0.498          3.622          0              90             0
  34  Drawer          -4.497         0.901          3.372          0              90             0
  35  Cabinet         -4.409         0.498          1.569          0              90             0
  36  Dresser         -4.744         4.321          2.595          0              90             0
  37  Drawer          -4.497         0.901          1.818          0              90             0
  38  Cabinet         -4.409         0.498          2.588          0              90             0
  39  CoffeeTable     -2.405         -0.000         2.546          0              0              0
  40  ArmChair        -0.298         0.002          3.310          0              270            0
  41  ArmChair        -0.298         0.002          1.713          0              270            0
  42  Sofa            -2.464         -0.002         0.700          0              0              0
  43  Chair           -4.735         0.011          4.609          1.215          90             0
  44  SideTable       -0.041         0.002          4.619          0              0              0
  45  NorthWall
  46  EastWall
  47  SouthWall
  48  WestWall

Plan:
STEP 1: Go around the coffee table to face the other side of it. | STEP 2: Pick the keys up off of the coffee table. | STEP 3: Turn to the left to face the armchair. | STEP 4: Place the keys on top of the armchair. | STEP 5: Move to the left to face the side table. | STEP 6: Pick the keys up off of the side table. | STEP 7: Turn around and face the armchair to the left. | STEP 8: Place the keys next to the other set of keys on the armchair. | END