Task: Putting two sets of keys on 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           0.25           0.900          0.5            0              180            0
   1  Watch           0.387          0.137          0.089          0              0              0              34
   2  KeyChain        0.227          0.367          0.130          0              0              0              35
   3  Box             2.737          0.640          -0.151         0              0              0              21
   4  Laptop          0.228          0.358          -0.306         0              349.282        0              35
   5  CreditCard      -0.786         0.463          -0.400         0              180            0              25
   6  Newspaper       1.919          0.877          1.746          0              0              0              23
   7  RemoteControl   0.522          0.412          1.466          0              0              0              28
   8  Pillow          -0.875         0.575          -0.798         0              267.956        341.124        25
   9  KeyChain        2.661          0.450          0.846          0              0              0              21
  10  Watch           0.678          0.411          1.466          0              0              0              28
  11  Statue          1.145          0.418          1.466          0              0              0              28
  12  Curtains        1.199          0.0            -2.440         0              0              0
  13  HousePlant      1.919          1.717          -2.187         0              315            0
  14  FloorLamp       -1.160         -0.003         1.040          0              0              0
  15  LightSwitch     -1.006         1.286          1.950          0              180            0
  16  Television      0.858          0.884          1.731          0              180            0
  17  Painting        3.414          1.708          -0.156         90             270            0
  18  Painting        -1.449         1.787          -0.342         90             270            0
  19  GarbageCan      1.296          9.894          -2.187         0              0              0
  20  Window          0.653          1.550          -2.470         90             180            0
  21  Sofa            2.868          -0.002         0.248          0              270            0
  22  Drawer          1.996          0.779          1.705          0              180            0
  23  SideTable       1.995          0.004          1.746          0              180            0
  24  ArmChair        0.224          -0.010         -1.724         0              0              0
  25  Sofa            -1.007         0.006          -0.207         1.149          90             0
  26  SideTable       -0.683         0.004          -1.600         0              0              0
  27  SideTable       2.956          0.004          1.568          0              0              0
  28  TVStand         0.838          -0.006         1.582          0              0              0
  29  Drawer          0.472          0.271          -0.165         0              270            0
  30  Drawer          -0.018         0.272          -0.165         0              270            0
  31  Drawer          -0.018         0.168          -0.165         0              270            0
  32  Drawer          -0.018         0.064          -0.165         0              270            0
  33  Drawer          0.472          0.063          -0.165         0              270            0
  34  Drawer          0.472          0.167          -0.165         0              270            0
  35  CoffeeTable     0.226          -0.003         -0.164         0              270            0
  36  NorthWall
  37  EastWall
  38  SouthWall
  39  WestWall

Plan:
STEP 1: Look down at the coffee table in front of you | STEP 2: Grab the keys off of the table | STEP 3: Go to the armchair | STEP 4: Put the keys on the armchair | STEP 5: Turn around and go to the left of the sofa on the right | STEP 6: Grab the keys off of the sofa | STEP 7: Turn right and go to the armchair | STEP 8: Put the keys on the armchair | END