Task: Placing two sets of keys on a foot stool in front of a chair

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           1.0            0.900          1.0            0              180            0
   1  KeyChain        1.886          0.878          0.988          0              90             0              40
   2  KeyChain        -2.250         0.760          0.314          0              90             0              27
   3  CreditCard      1.805          0.766          1.188          0              0              0              41
   4  CreditCard      0.939          0.467          -0.061         0              225            0              34
   5  RemoteControl   -3.471         0.784          -4.057         0              270            0              33
   6  Box             -3.101         0.898          -4.057         0              0              0              33
   7  KeyChain        -0.684         0.391          1.652          0              180            0              32
   8  Laptop          -2.977         0.781          -3.614         0              180            0              33
   9  Statue          -0.800         0.894          -2.831         0              0              0              16
  10  Pillow          0.495          0.603          -0.734         0              225            0              34
  11  RemoteControl   1.807          0.879          1.093          0              0              0              40
  12  Statue          -3.224         0.793          -3.392         0              270            0              33
  13  CreditCard      1.846          0.876          0.882          0              0              0              40
  14  Vase            -3.471         0.790          -3.392         0              270            0              33
  15  Statue          -3.224         0.796          -2.948         0              270            0              33
  16  Shelf           -0.612         0.880          -2.832         0              0              0
  17  Shelf           -0.612         1.317          -2.832         0              0              0
  18  LightSwitch     -2.599         1.254          -0.774         0              90             0
  19  GarbageCan      -1.343         0.015          -4.825         0              0              0
  20  HousePlant      0.506          1.097          2.235          0              0              0
  21  Painting        -0.509         1.742          2.404          90             0              0
  22  FloorLamp       1.712          0.001          0.374          0              0              0
  23  Painting        -5.0           1.626          -3.548         90             270            0
  24  Television      -2.258         1.245          0.755          0              90             0
  25  Shelf           -2.238         0.474          0.396          0              90             0
  26  Shelf           -2.238         0.273          0.396          0              90             0
  27  TVStand         -2.244         -0.000         0.762          0              90             0
  28  Shelf           -2.238         0.302          1.130          0              90             0
  29  Shelf           -2.238         0.442          0.764          0              90             0
  30  Shelf           -2.238         0.597          1.130          0              90             0
  31  Shelf           -2.238         0.643          0.396          0              90             0
  32  ArmChair        -0.559         0.000          1.951          0              180            0
  33  DiningTable     -3.101         0.000          -3.613         0              270            0
  34  Sofa            0.880          0.007          -0.591         0              315            0
  35  Ottoman         -0.576         0.008          1.052          0              180            0
  36  Chair           -3.501         0.002          -3.716         0              90             0
  37  Chair           -3.182         0.002          -2.813         0              165.000        0
  38  Chair           -3.130         0.002          -4.418         0              345.001        0
  39  Chair           -2.686         0.002          -3.301         0              285.000        0
  40  SideTable       1.825          0.000          1.092          0              270            0
  41  Drawer          1.761          0.774          1.092          0              270            0
  42  NorthWall
  43  EastWall
  44  SouthWall
  45  WestWall

Plan:
STEP 1: Turn left towards the small black table | STEP 2: Pick up the keys from the table that are behind the remote control | STEP 3: Turn around and go back towards the foot stool and turn right so the foot stool is in front | STEP 4: Place the keys on the foot stool in front of the chair | STEP 5: Go around the foot stool keeping it to the right and approaching the chair directly to the left of the foot stool | STEP 6: Pick up the keys from the chair | STEP 7: Turn right and go around the stool keeping it to the left and turn left towards the stool and the set of keys | STEP 8: Place the keys to the left of the first set of keys | END