Task: Put both sets of keys on the coffee table.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -2.25          0.900          -1.0           0              90             0
   1  TissueBox       3.888          0.879          1.076          0              0              0              43
   2  Newspaper       1.466          0.472          0.676          0              180            0              34
   3  Pencil          3.852          0.768          0.960          0              0              0              44
   4  Pen             1.466          0.479          0.186          0              180            0              34
   5  Pen             3.950          0.771          0.578          0              270            0              44
   6  KeyChain        4.047          0.877          0.865          0              0              0              43
   7  KeyChain        -0.493         0.323          1.600          0              91.372         0              41
   8  CreditCard      1.380          0.335          1.819          0              0              0              42
   9  CreditCard      1.749          0.473          0.267          0              180            0              34
  10  Box             1.174          0.582          1.819          0              0              0              42
  11  Newspaper       1.324          0.472          0.349          0              180            0              34
  12  Laptop          1.805          0.47           0.499          0              0              0              34
  13  WateringCan     1.621          0.056          -0.697         0              0              0              39
  14  TissueBox       -0.624         0.841          -0.721         0              0              0              38
  15  KeyChain        -0.512         0.840          -0.916         0              0              0              38
  16  Pen             2.033          0.479          0.186          0              180            0              34
  17  Boots           4.005          0.001          1.707          1.563          246.167        0
  18  Pencil          -0.080         0.460          -0.691         0              0              0              40
  19  RemoteControl   -0.395         0.069          -0.767         0              0              0              37
  20  CreditCard      3.852          0.765          0.674          0              0              0              44
  21  Pillow          0.651          0.395          1.708          0              0              0              24
  22  Statue          -0.067         0.841          -0.818         0              0              0              38
  23  Statue          1.183          0.483          0.676          0              180            0              34
  24  Sofa            1.174          0.0            1.865          0              0              0
  25  FloorLamp       3.608          0.000          2.163          0              0              0
  26  GarbageCan      3.833          -0.029         -0.495         0              0              0
  27  Television      1.897          1.281          -0.838         0              0              0
  28  Painting        4.070          1.950          0.848          90             270            0
  29  HousePlant      0.387          0.801          -0.725         0              90             0
  30  Window          0.023          2.072          2.484          90             180            0
  31  Window          1.570          2.072          2.484          90             180            0
  32  LightSwitch     -1.399         1.289          1.835          0              90             0
  33  ArmChair        2.655          0.000          1.858          0              180            0
  34  CoffeeTable     1.591          -0.000         0.446          0              180            0
  35  Shelf           1.905          0.588          -0.730         0              0              0
  36  TVStand         1.904          -0.000         -0.770         0              0              0
  37  Shelf           -0.289         0.200          -0.732         0              0              0
  38  TVStand         -0.290         -0.000         -0.772         0              0              0
  39  Shelf           1.905          0.200          -0.730         0              0              0
  40  Shelf           -0.289         0.588          -0.732         0              0              0
  41  ArmChair        -0.270         0.000          1.870          0              181.372        0
  42  Sofa            1.193          0.008          1.865          0              180            0
  43  SideTable       3.946          0.000          0.865          0              270            0
  44  Drawer          3.882          0.774          0.864          0              270            0
  45  NorthWall
  46  EastWall
  47  SouthWall
  48  WestWall

Plan:
STEP 1: Walk straight, turn left and walk over to the armchair. | STEP 2: Pick up the keys off of the chair. | STEP 3: Turn around and the turn left and walk to the coffee table. | STEP 4: Set the keys on the coffee table. | STEP 5: Turn around and walk to the bookcase on the wall. | STEP 6: Pick up the keys from the top of the bookcase. | STEP 7: Walk back to the coffee table. | STEP 8: Set the keys onto the coffee table. | END