Task: Place two sets of keys in a safe.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.5           0.902          2.0            0              270            0
   1  KeyChain        0.137          0.742          1.398          0              0              0              33
   2  CellPhone       -2.238         0.658          -1.820         0              0              0              54
   3  CreditCard      -2.700         0.318          2.772          0              0              0              64
   4  CreditCard      -3.789         0.394          3.615          0              90             0              57
   5  RemoteControl   -0.847         0.742          1.593          0              0              0              33
   6  Box             -3.483         0.684          3.348          0              90             0              57
   7  Vase            -1.685         0.462          4.048          0              0              0              67
   8  CellPhone       0.321          0.124          1.364          0              0              0              31
   9  WateringCan     -3.580         0.003          5.507          2.684          0              0              Floor|-04.41|
  10  KeyChain        -1.913         0.390          5.916          0              180            0              56
  11  Vase            -4.242         0.789          1.181          0              0              0              26
  12  Vase            -4.247         1.273          1.070          0              0              0              23
  13  Laptop          -0.108         0.739          1.495          0              0              0              33
  14  Pillow          -3.587         0.643          5.016          317.310        0              0              57
  15  RemoteControl   -2.238         0.656          -2.202         0              0              0              54
  16  CreditCard      -3.483         0.394          4.949          0              90             0              57
  17  Vase            -4.225         0.789          0.382          0              0              0              26
  18  Statue          -4.223         1.263          0.399          0              0              0              23
  19  Statue          -2.106         0.462          4.602          0              0              0              67
  20  Statue          -1.965         0.554          4.602          0              0              0              67
  21  Shelf           -4.253         2.157          0.771          0              0              0
  22  Painting        -3.368         1.741          -0.298         0              0              0
  23  Shelf           -4.253         1.306          0.771          0              0              0
  24  Painting        -1.756         1.424          -3.595         0              0              0
  25  Shelf           -4.253         1.690          0.771          0              0              0
  26  Shelf           -4.261         0.833          0.771          0              0              0
  27  Drawer          0.411          0.581          1.221          0              180            0
  28  Drawer          -0.000         0.170          1.221          0              180            0
  29  Drawer          -0.000         0.581          1.221          0              180            0
  30  Drawer          0.411          0.375          1.221          0              180            0
  31  Drawer          0.411          0.170          1.221          0              180            0
  32  Drawer          -0.000         0.375          1.221          0              180            0
  33  Desk            -0.352         0.003          1.371          0              180            0
  34  FloorLamp       0.391          -0.001         5.157          0              0              0
  35  Window          -2.828         0.470          -0.157         90             199.328        0
  36  Window          -4.410         1.702          1.787          90             270            0
  37  Window          -3.638         1.702          6.735          90             0              0
  38  Window          -4.410         1.702          2.790          90             270            0
  39  Window          -2.827         1.702          -0.157         90             199.328        0
  40  Window          -0.131         1.702          6.735          90             0              0
  41  Window          -1.013         1.702          -0.154         90             159.633        0
  42  Window          -4.410         1.702          5.980          90             270            0
  43  Television      -0.153         1.176          5.790          0              225            0
  44  GarbageCan      0.357          0.003          2.159          0              90             0
  45  DeskLamp        0.277          0.735          1.381          0              0              0
  46  HousePlant      -1.819         0.641          -2.011         0              315            0
  47  LightSwitch     -2.740         1.495          -0.405         0              180            0
  48  TVStand         -0.118         0.001          5.874          0              45             0
  49  Chair           -1.353         0.002          -2.872         0              349.207        0
  50  Chair           -2.220         0.002          -1.298         0              168.118        0
  51  Chair           -1.515         0.007          -1.331         358.639        187.454        0
  52  Chair           -2.189         0.002          -2.835         0              2.328          0
  53  Safe            0.174          0.001          -0.071         0              323.940        0
  54  DiningTable     -1.783         0.003          -2.039         0              0              0
  55  Chair           -0.636         0.010          0.993          0              358.396        0
  56  Sofa            -2.161         0.006          6.115          0              180            0
  57  Sofa            -3.782         0.006          4.153          0              90             0
  58  Shelf           -1.095         0.607          1.321          0              180            0
  59  Shelf           -1.267         0.607          1.321          0              180            0
  60  Shelf           -1.267         0.401          1.321          0              180            0
  61  Shelf           -1.095         0.196          1.320          0              180            0
  62  Shelf           -1.095         0.401          1.321          0              180            0
  63  Shelf           -1.267         0.196          1.320          0              180            0
  64  ArmChair        -2.628         0.009          2.421          0              0              0
  65  Chair           -0.485         0.010          4.452          0              270            0
  66  Chair           -0.431         0.010          3.595          0              270            0
  67  CoffeeTable     -1.965         0.000          4.187          0              0              0
  68  NorthWall
  69  EastWall
  70  SouthWall
  71  WestWall

Plan:
STEP 1: Turn around and walk to the gray bin. Face right to look at the desk. | STEP 2: Pick up the keys on the desk. | STEP 3: Walk around the desk to get to the safe. | STEP 4: Put the keys in the safe. | STEP 5: Turn right and walk around the inside of the coffee table to get to the far couch. | STEP 6: Pick up the keys on the couch. | STEP 7: Walk back around the coffee table and head forward and left to walk to the other side of the desk. | STEP 8: Place the keys in the safe on the floor. | END