Task: Put two keys 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           1.75           0.900          -0.25          0              0              0
   1  Statue          2.072          0.876          1.704          0              0              0              28
   2  KeyChain        0.834          0.410          1.531          0              0              0              33
   3  KeyChain        1.300          0.410          1.401          0              0              0              33
   4  CreditCard      -0.862         0.456          0.198          0              180            0              30
   5  CreditCard      0.367          0.410          1.401          0              0              0              33
   6  RemoteControl   1.145          0.412          1.531          0              0              0              33
   7  RemoteControl   -0.786         0.453          0.397          0              180            0              30
   8  Box             2.737          0.640          0.647          0              180            0              26
   9  Laptop          0.228          0.358          -0.306         0              349.282        0              40
  10  CreditCard      0.227          0.367          -0.066         0              0              0              40
  11  Newspaper       0.216          0.522          -1.567         0              350.059        0              29
  12  RemoteControl   0.678          0.412          1.531          0              0              0              33
  13  Pillow          -0.875         0.575          -0.798         0              267.956        341.124        30
  14  KeyChain        0.522          0.411          1.531          0              0              0              33
  15  Watch           0.114          0.368          -0.066         0              0              0              40
  16  Statue          2.944          0.596          1.570          0              266.344        0              32
  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: Turn left, go forward to the coffee table, turn right, go forward to the TV stand. | STEP 2: Take the center keys from the TV stand. | STEP 3: Turn left, go forward, turn left, go forward between the coffee table and the couch, turn right to face the couch. | STEP 4: Put the keys to the left of the credit card on the couch. | STEP 5: Turn right, go forward a step, turn right, go forward a step, turn left, go forward to the TV stand. | STEP 6: Take the left keys from the TV stand. | STEP 7: Turn left, go forward, turn left, go forward between the coffee table and the couch, turn right to face the couch. | STEP 8: Put the keys to the left of the first keys on the couch. | END