Task: Put two sets of keys on a shelf.

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          1.5            0              270            0
   1  Watch           1.600          0.757          0.541          0              270            0              29
   2  Statue          1.600          0.770          0.091          0              270            0              29
   3  Statue          -0.301         0.483          -0.086         0              90             0              26
   4  KeyChain        -1.113         0.327          0.847          0              90             0              37
   5  KeyChain        -1.270         0.327          0.440          0              180            0              37
   6  Laptop          -1.349         0.334          0.643          0              90             0              37
   7  Box             -0.007         0.65           0.892          0              0              0              26
   8  Laptop          -0.196         0.470          0.407          0              72.615         0              26
   9  CreditCard      -1.192         0.334          0.236          0              90             0              37
  10  KeyChain        -0.555         0.291          2.200          0              0              0              41
  11  Vase            1.525          0.765          0.691          0              270            0              29
  12  Vase            -1.800         1.616          -1.785         0              0              0              38
  13  Pillow          -1.235         0.461          -0.025         0              75.000         0              37
  14  RemoteControl   -1.438         0.491          1.818          0              0              0              36
  15  Watch           1.461          0.178          0.029          0              270            0              31
  16  Vase            -1.799         1.315          -1.470         0              0              0              39
  17  Statue          -0.384         0.483          0.795          0              90             0              26
  18  Television      1.826          1.241          0.248          0              270            0
  19  LightSwitch     -2.0           1.332          3.920          0              90             0
  20  Window          -0.216         1.495          -1.878         90             0              0
  21  HousePlant      -1.780         0.468          1.965          0              0              0
  22  Painting        -2.0           1.577          0.418          90             270            0
  23  GarbageCan      1.767          -0.001         3.878          0              0              0
  24  FloorLamp       1.228          0.000          3.744          0              0              0
  25  Painting        -0.096         1.578          4.050          90             0              0
  26  CoffeeTable     -0.150         0.000          0.421          0              270            0
  27  Shelf           1.663          0.474          0.609          0              270            0
  28  Shelf           1.663          0.273          0.609          0              270            0
  29  TVStand         1.669          -0.000         0.243          0              270            0
  30  Shelf           1.663          0.302          -0.124         0              270            0
  31  Shelf           1.663          0.442          0.241          0              270            0
  32  Shelf           1.663          0.597          -0.124         0              270            0
  33  Shelf           1.663          0.643          0.609          0              270            0
  34  Cabinet         -1.767         0.729          -1.593         0              91.801         0
  35  Shelf           -1.769         2.041          -1.593         0              91.801         0
  36  SideTable       -1.567         -0.002         1.818          0              90             0
  37  Sofa            -1.445         0.008          0.420          0              90             0
  38  Shelf           -1.769         1.744          -1.593         0              91.801         0
  39  Shelf           -1.768         1.452          -1.593         0              91.801         0
  40  ArmChair        0.396          0.005          2.194          0              180            0
  41  ArmChair        -0.633         0.005          2.194          0              180            0
  42  ShelvingUnit    -1.786         0.001          -1.592         0              91.801         0
  43  NorthWall
  44  EastWall
  45  SouthWall
  46  WestWall

Plan:
STEP 1: Go forward to the side table, hang a left and go to the couch where the computer is. | STEP 2: Pick up the keys that are left of the computer from the couch. | STEP 3: Turn to the left and go to the end of the table, turn to the left, go forward, turn to the left, go to the shelf with the TV on it that is on the right. | STEP 4: Put the keys on the bottom right shelf under the TV. | STEP 5: Hang a left and go to the chair, turn to the left, go to the second chair on the right. | STEP 6: Pick up the keys that are in the chair. | STEP 7: Turn to the right, go forward, hang a right and go to the shelf with the TV on it that is on the left. | STEP 8: Put the keys on the bottom right shelf under the TV with the other keys. | END