Task: Place two sets of keys on the sofa.

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           0.901          1.75           0              270            0
   1  Statue          -1.714         0.453          2.441          0              0              0              29
   2  KeyChain        -1.200         0.711          3.759          0              0              0              31
   3  KeyChain        0.500          0.240          0.387          0              0              0              32
   4  KeyChain        0.627          0.714          0.421          0              0              0              28
   5  CreditCard      -0.851         0.546          0.471          0              0              0              30
   6  RemoteControl   -2.093         0.449          2.521          0              0              0              29
   7  RemoteControl   -0.351         0.547          0.740          0              0              0              30
   8  Laptop          -1.499         0.708          3.649          0              0              0              31
   9  Laptop          -2.824         0.561          0.754          0              0              0              33
  10  Book            -3.200         0.565          0.568          0              0              0              33
  11  Box             0.332          0.892          0.488          0              0              0              28
  12  Laptop          -1.101         0.544          0.471          0              0              0              30
  13  KeyChain        0.247          0.240          0.387          0              0              0              32
  14  Pillow          -0.506         0.664          0.431          36.288         0              0              30
  15  Statue          -1.461         0.453          2.361          0              0              0              29
  16  RemoteControl   -1.966         0.449          2.200          0              0              0              29
  17  CreditCard      -3.075         0.564          0.847          0              0              0              33
  18  Watch           0.627          0.240          0.624          0              0              0              32
  19  Painting        -3.049         1.690          4.341          0              0              0
  20  Curtains        -3.973         2.254          1.453          0              0              0
  21  Painting        -1.096         1.773          -0.017         0              0              0
  22  LightSwitch     -0.129         1.407          4.348          0              180            0
  23  GarbageCan      -0.376         0.003          4.103          0              180            0
  24  Television      -1.504         1.189          4.126          0              180            0
  25  HousePlant      -2.015         0.447          2.357          0              0              0
  26  FloorLamp       -3.686         -0.001         4.013          0              0              0
  27  Window          -4.051         1.197          1.312          90             270            0
  28  SideTable       0.626          0.006          0.340          0              0              0
  29  CoffeeTable     -1.735         0.005          2.360          0              0              0
  30  Sofa            -1.135         -0.004         0.517          0              0              0
  31  TVStand         -1.566         0.004          3.869          0              0              0
  32  Shelf           0.622          0.238          0.340          0              0              0
  33  ArmChair        -3.063         0.000          0.517          0              0              0
  34  NorthWall
  35  EastWall
  36  SouthWall
  37  WestWall

Plan:
STEP 1: Turn around and head towards the wall, then make a right and go to the table. | STEP 2: Pick up the keys on the table next to the box. | STEP 3: Turn around and step forward, then turn left and go center of the room and turn left in front of the sofa. | STEP 4: Place the key on the sofa to the bottom right of the laptop. | STEP 5: Turn around,walk forward and go in the space between the TV stand and the coffee table. | STEP 6: Pick up the keys off the TV stand to the right of the laptop. | STEP 7: Return to the center of the sofa. | STEP 8: Place the key to the left of the key already on the sofa. | END