Task: Put two keys on a night stand.

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          1.5            0              180            0
   1  CD              1.325          0.022          -1.749         0              0              0              34
   2  CellPhone       -1.519         0.694          0.336          0              0              0              29
   3  Pen             2.995          0.993          0.723          0              180            0              37
   4  Pen             2.995          0.993          1.008          0              180            0              37
   5  CreditCard      2.557          0.985          1.576          0              180            0              37
   6  KeyChain        2.227          0.450          -0.837         0              119.999        0              50
   7  KeyChain        -1.539         0.358          -1.420         0              90             0              48
   8  Book            2.711          0.179          1.265          0              180            0              39
   9  Book            -0.716         0.693          -0.332         0              0              0              29
  10  Pillow          -1.519         0.779          0.782          0              0              0              29
  11  AlarmClock      -1.603         0.662          1.634          0              0              0              49
  12  AlarmClock      2.995          0.984          0.439          0              180            0              37
  13  Book            0.086          0.693          0.559          0              0              0              29
  14  KeyChain        2.476          0.450          -0.539         0              119.999        0              50
  15  Laptop          2.907          0.986          0.155          0              180            0              37
  16  Cloth           1.763          0.000          -1.732         0              70.590         0
  17  CreditCard      2.575          0.887          1.631          0              180            0              38
  18  Pen             -1.603         0.668          -1.25          0              0              0              47
  19  Pencil          -1.648         0.667          -1.482         0              0              0              47
  20  BaseballBat     3.076          0.629          -1.762         0              0              338.300
  21  AlarmClock      2.732          0.984          0.439          0              180            0              37
  22  BaseballBat     0.808          0.05           2.151          0              0              270
  23  Pillow          -0.448         0.779          0.782          0              0              0              29
  24  Pillow          0.086          0.779          -0.332         0              0              0              29
  25  CellPhone       -1.539         0.357          1.479          0              0              0              46
  26  CD              2.810          0.448          -0.621         0              119.999        0              50
  27  Mug             -1.514         0.661          1.246          0              90             0              49
  28  Curtains        -0.020         2.923          -1.853         0              0              0
  29  Bed             -0.750         -0.018         0.113          1.247          270            0
  30  LightSwitch     1.317          1.297          2.197          0              180            0
  31  DeskLamp        -1.618         0.669          1.486          0              0              0
  32  DeskLamp        -1.631         0.669          -1.308         0              0              0
  33  Painting        1.524          1.516          -1.853         90             0              0
  34  GarbageCan      1.352          0.000          -1.685         0              0              0
  35  Mirror          0.575          1.351          2.197          0              0              0
  36  Window          -0.013         1.687          -1.919         90             0              0
  37  Dresser         2.819          0.000          1.008          0              270            0
  38  Drawer          2.572          0.901          1.784          0              270            0
  39  Cabinet         2.484          0.499          1.014          0              270            0
  40  Cabinet         2.484          0.499          0.999          0              270            0
  41  Drawer          2.572          0.901          1.263          0              270            0
  42  Drawer          2.572          0.901          0.748          0              270            0
  43  Cabinet         2.484          0.499          -0.019         0              270            0
  44  Drawer          2.572          0.901          0.230          0              270            0
  45  Cabinet         2.484          0.499          2.033          0              270            0
  46  Drawer          -1.533         0.459          1.478          0              90             0
  47  SideTable       -1.599         0.001          -1.249         0              90             0
  48  Drawer          -1.533         0.459          -1.250         0              90             0
  49  SideTable       -1.599         0.001          1.479          0              90             0
  50  ArmChair        2.574          0.002          -0.817         0              299.998        0
  51  Shelf           -1.552         0.040          -1.400         0              90             0
  52  Shelf           -1.552         0.040          -1.133         0              90             0
  53  Shelf           -1.552         0.040          1.328          0              90             0
  54  Shelf           -1.552         0.040          1.595          0              90             0
  55  NorthWall
  56  EastWall
  57  SouthWall
  58  WestWall

Plan:
STEP 1: Go forward, turn left at the chair, go to the chair. | STEP 2: Take the keys on the right of the chair. | STEP 3: Turn right, go forward, turn right, go forward to the night stand. | STEP 4: Put the keys on the night stand. | STEP 5: Move closer to the left of the night stand. | STEP 6: Take the keys from the drawer in the night stand. | STEP 7: Move away from the night stand, face the night stand. | STEP 8: Put the keys on the night stand. | END