Task: put keys on 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           2.25           0.901          0.5            0              90             0
   1  Mug             2.907          0.986          0.439          0              180            0              32
   2  CellPhone       2.581          0.449          -0.489         0              119.999        0              45
   3  CellPhone       -0.181         0.694          0.113          0              0              0              24
   4  CreditCard      2.571          0.449          -1.035         0              119.999        0              45
   5  CreditCard      2.575          0.887          1.834          0              180            0              33
   6  Pencil          2.732          0.989          0.155          0              180            0              32
   7  Laptop          -0.984         0.691          -0.109         0              0              0              24
   8  Book            0.086          0.693          0.113          0              0              0              24
   9  KeyChain        2.732          0.986          1.292          0              180            0              32
  10  Laptop          2.390          0.447          -0.820         0              119.999        0              45
  11  Cloth           1.763          0.000          -1.732         0              70.590         0
  12  CreditCard      -1.562         0.357          -1.420         0              0              0              43
  13  Pen             2.995          0.993          0.723          0              180            0              32
  14  Pencil          2.644          0.992          1.860          0              180            0              32
  15  BaseballBat     3.076          0.629          -1.762         0              0              338.300
  16  AlarmClock      2.732          0.987          0.723          0              180            0              32
  17  BaseballBat     0.808          0.05           2.151          0              0              270
  18  Pillow          -1.373         0.754          -0.204         0              255.000        0              24
  19  Pillow          -1.457         0.754          0.494          0              285.000        0              24
  20  CellPhone       2.575          0.886          0.797          0              180            0              32
  21  CD              1.352          0.023          -1.620         0              0              0              29
  22  Mug             -1.514         0.661          1.479          0              0              0              44
  23  Curtains        -0.020         2.923          -1.853         0              0              0
  24  Bed             -0.750         -0.018         0.113          1.247          270            0
  25  LightSwitch     1.317          1.297          2.197          0              180            0
  26  DeskLamp        -1.618         0.669          1.486          0              0              0
  27  DeskLamp        -1.631         0.669          -1.308         0              0              0
  28  Painting        1.524          1.516          -1.853         90             0              0
  29  GarbageCan      1.352          0.000          -1.685         0              0              0
  30  Mirror          0.575          1.351          2.197          0              0              0
  31  Window          -0.013         1.687          -1.919         90             0              0
  32  Dresser         2.819          0.000          1.008          0              270            0
  33  Drawer          2.572          0.901          1.784          0              270            0
  34  Cabinet         2.484          0.499          1.014          0              270            0
  35  Cabinet         2.484          0.499          0.999          0              270            0
  36  Drawer          2.572          0.901          1.263          0              270            0
  37  Drawer          2.572          0.901          0.748          0              270            0
  38  Cabinet         2.484          0.499          -0.019         0              270            0
  39  Drawer          2.572          0.901          0.230          0              270            0
  40  Cabinet         2.484          0.499          2.033          0              270            0
  41  Drawer          -1.533         0.459          1.478          0              90             0
  42  SideTable       -1.599         0.001          -1.249         0              90             0
  43  Drawer          -1.533         0.459          -1.250         0              90             0
  44  SideTable       -1.599         0.001          1.479          0              90             0
  45  ArmChair        2.574          0.002          -0.817         0              299.998        0
  46  Shelf           -1.552         0.040          -1.400         0              90             0
  47  Shelf           -1.552         0.040          -1.133         0              90             0
  48  Shelf           -1.552         0.040          1.328          0              90             0
  49  Shelf           -1.552         0.040          1.595          0              90             0
  50  NorthWall
  51  EastWall
  52  SouthWall
  53  WestWall

Plan:
STEP 1: walk to face bureau  | STEP 2: pick up keys from bureau top | STEP 3: walk to face night stand to the right of bed | STEP 4: put keys on night stand | END