Task: put two sets of keys inside safe

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -4.0           0.901          1.5            0              180            0
   1  CellPhone       -2.901         1.108          4.885          0              90             0              52
   2  CellPhone       -4.505         1.111          4.885          0              90             0              52
   3  Vase            -3.121         0.203          4.589          0              90             0              51
   4  Watch           -2.458         0.034          0.212          0              90             0              35
   5  Watch           -4.854         1.039          0.504          0              0              0              34
   6  KeyChain        -5.534         1.039          0.504          0              0              0              34
   7  Box             -0.787         0.830          3.545          0              0              0              56
   8  Box             -0.312         0.295          1.011          0              270            0              37
   9  Watch           -2.244         0.034          0.160          0              90             0              35
  10  Pillow          -2.031         0.668          4.421          0              0              0              46
  11  TissueBox       -0.324         1.593          1.189          0              270            0              36
  12  Newspaper       -3.863         1.114          4.391          0              90             0              52
  13  CreditCard      -4.912         0.997          4.313          0              90             0              53
  14  KeyChain        -0.952         0.615          2.488          0              0              0              56
  15  CellPhone       -1.584         0.590          4.384          0              0              0              46
  16  Statue          -4.826         1.117          4.490          0              90             0              52
  17  Laptop          -3.393         1.104          4.492          0              191.867        0              52
  18  RemoteControl   -0.705         0.611          2.224          0              0              0              56
  19  Vase            -4.184         1.111          4.687          0              90             0              52
  20  DeskLamp        -4.649         1.051          0.268          0              0              0
  21  DeskLamp        -2.992         1.107          4.522          0              0              0
  22  FloorLamp       -0.650         0.007          4.431          0              0              0
  23  FloorLamp       -5.607         0.007          4.641          0              0              0
  24  Shelf           -5.237         1.776          0.070          0              0              0
  25  Shelf           -5.238         1.968          0.085          0              0              0
  26  Shelf           -5.242         1.391          0.086          0              0              0
  27  Shelf           -5.241         1.582          0.065          0              0              0
  28  LightSwitch     -6.002         1.353          3.404          0              90             0
  29  GarbageCan      -5.794         -0.033         4.073          0              90             0
  30  Painting        -6.017         1.802          4.177          90             270            0
  31  HousePlant      -3.966         1.625          0.135          0              315            0
  32  Television      -3.355         0.833          0.027          0              0              0
  33  Drawer          -5.024         0.903          0.370          0              0              0
  34  SideTable       -5.024         0.008          0.267          0              0              0
  35  Safe            -2.298         5.778          0.268          0              90             0
  36  Shelf           -0.253         0.781          1.058          0              270            0
  37  Shelf           -0.283         0.274          1.066          0              270            0
  38  Shelf           -1.224         1.288          0.270          0              0              0
  39  Shelf           -1.218         1.810          0.275          0              0              0
  40  Shelf           -0.280         1.810          1.057          0              270            0
  41  Shelf           -1.218         0.274          0.262          0              0              0
  42  Shelf           -1.223         0.782          0.237          0              0              0
  43  Shelf           -0.280         1.288          1.055          0              270            0
  44  ShelvingUnit    -0.268         0.004          1.067          0              270            0
  45  ShelvingUnit    -1.218         0.004          0.244          0              0              0
  46  ArmChair        -2.027         0.001          4.422          0              178.692        0
  47  Drawer          -4.329         1.014          4.311          0              180            0
  48  Drawer          -3.750         1.014          4.311          0              180            0
  49  Cabinet         -4.049         0.561          4.212          0              180            0
  50  Cabinet         -4.032         0.561          4.212          0              180            0
  51  Cabinet         -2.884         0.561          4.212          0              180            0
  52  Dresser         -4.041         -0.000         4.589          0              180            0
  53  Drawer          -4.916         1.014          4.311          0              180            0
  54  Drawer          -3.166         1.014          4.311          0              180            0
  55  Cabinet         -5.196         0.561          4.212          0              180            0
  56  Sofa            -0.705         -0.002         2.753          0              270            0
  57  NorthWall
  58  SouthWall
  59  SouthWall

Plan:
STEP 1: turn to face black rectangular table | STEP 2: pick up keys from table | STEP 3: walk to face small white safe | STEP 4: put keys inside safe | STEP 5: walk to face white couch | STEP 6: pick up keys from couch | STEP 7: walk to face small white safe | STEP 8: put keys inside safe | END