Task: put two sets of keys on shelves

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.75           0.901          -1.0           0              90             0
   1  Mug             -0.672         0.063          2.019          0              0              0              33
   2  Mug             -0.761         0.666          3.075          0              90             0              44
   3  CD              -0.637         0.284          2.877          0              0              0              45
   4  Pen             -0.961         0.683          1.431          0              90             0              34
   5  Pen             1.515          0.732          -0.010         0              270            0              58
   6  Pencil          1.807          0.730          -0.256         0              270            0              58
   7  Pencil          -0.703         0.099          -1.320         0              0              0              52
   8  KeyChain        -0.423         0.677          2.364          0              90             0              34
   9  Book            -0.626         0.981          -1.509         0              0              0              49
  10  Laptop          -0.513         0.675          1.991          0              90             0              34
  11  Laptop          -1.002         1.498          -1.389         0              0              0              48
  12  Book            -0.872         0.681          2.364          0              90             0              34
  13  Box             -0.493         0.2            -0.286         0              84.024         0
  14  TennisRacket    -1.345         0.288          0.233          30.000         270            180
  15  Pen             -0.799         0.100          -1.403         0              90             0              52
  16  AlarmClock      -0.855         0.669          3.249          0              90             0              44
  17  Pillow          -0.63          1.871          3.047          0              0              0              53
  18  Pillow          -1.137         1.585          -0.942         0              0              0              48
  19  CellPhone       -0.574         0.671          3.249          0              90             0              44
  20  KeyChain        1.502          0.433          1.883          0              180            0              61
  21  CreditCard      1.515          0.726          0.236          0              270            0              58
  22  CD              1.926          0.439          1.326          0              180            0              61
  23  Pencil          -0.679         0.519          2.235          0              0              0              32
  24  Laptop          -0.632         1.835          1.348          0              0              0              53
  25  Mug             -0.782         0.675          1.245          0              90             0              34
  26  DeskLamp        2.016          0.701          0.708          0              0              0
  27  Painting        2.199          1.771          -0.101         90             270            0
  28  GarbageCan      2.022          -0.037         -1.239         0              270            0
  29  Mirror          2.229          1.254          2.664          0              90             0
  30  LightSwitch     2.199          1.258          1.988          0              270            0
  31  Window          1.575          1.559          -1.953         90             180            0
  32  Drawer          -0.551         0.578          2.246          0              90             0
  33  Cabinet         -0.649         0.270          2.247          0              90             0
  34  Desk            -0.655         0.006          1.814          0              90             0
  35  Shelf           1.769          0.184          0.757          0              270            0
  36  Shelf           1.769          0.572          0.757          0              270            0
  37  Shelf           1.769          0.572          0.935          0              270            0
  38  Shelf           1.769          0.378          0.935          0              270            0
  39  Shelf           1.769          0.378          0.757          0              270            0
  40  Shelf           1.769          0.184          0.935          0              270            0
  41  Blinds          1.547          2.434          -1.886         0              0              0
  42  Drawer          -0.553         0.155          2.942          0              90             0
  43  Drawer          -0.553         0.572          2.942          0              90             0
  44  Dresser         -0.665         0.001          2.939          0              90             0
  45  Drawer          -0.553         0.376          2.942          0              90             0
  46  Chair           1.482          0.012          0.223          0              77.085         0
  47  Chair           -0.199         0.012          1.538          0              287.086        0
  48  Bed             -0.866         0.007          -0.919         0              0              0
  49  Dresser         -0.772         0.001          -1.313         0              90             0
  50  Drawer          -0.660         0.830          -1.309         0              90             0
  51  Drawer          -0.660         0.225          -1.309         0              90             0
  52  Drawer          -0.660         0.547          -1.309         0              90             0
  53  Bed             -0.872         1.637          2.188          0              0              0
  54  Drawer          1.685          0.160          -0.805         0              270            0
  55  Drawer          1.685          0.160          -0.378         0              270            0
  56  Drawer          1.685          0.547          -0.805         0              270            0
  57  Drawer          1.685          0.547          -0.378         0              270            0
  58  Desk            1.812          0.003          -0.014         0              270            0
  59  Drawer          1.685          0.354          -0.805         0              270            0
  60  Drawer          1.685          0.354          -0.378         0              270            0
  61  ArmChair        1.712          -0.000         1.532          0              270            0
  62  NorthWall
  63  EastWall
  64  SouthWall
  65  WestWall

Plan:
STEP 1: turn right, walk along room, stop at floral chair on the right, turn right and face floral chair | STEP 2: pick up set of keys on key fob from floral chair | STEP 3: turn around and face the wooden shelves opposite of the floral chair | STEP 4: place the keys on the top of the shelves in the front | STEP 5: turn to the left, walk to the desk, turn right and face desk | STEP 6: pick up the set of keys on the key fob from the desk | STEP 7: walk to the right and face the shelves opposite the floral chair | STEP 8: place the keys to the right of the other set of keys on the shelves | END