Task: Put two keys on a foot stool.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -6.25          0.905          1.5            0              0              0
   1  Newspaper       -1.876         0.454          1.507          0              0              0              34
   2  Watch           -0.394         0.473          4.089          0              0              0              43
   3  KeyChain        -2.116         1.100          4.153          0              0              0              20
   4  RemoteControl   -0.309         0.857          3.663          0              0              0              41
   5  Laptop          -2.229         0.5            0.578          0              0              0              39
   6  Box             -1.7           0.307          4.296          0              0              0              Floor|-03.53|
   7  Watch           -6.681         0.416          0.153          0              56.714         0              35
   8  Pillow          -1.830         0.597          0.222          0              0              0              39
   9  WateringCan     -0.269         0.005          2.366          1.834          0              0              Floor|-03.53|
  10  Newspaper       -1.669         0.454          2.134          0              0              0              34
  11  KeyChain        -2.820         0.502          0.484          0              0              0              39
  12  Laptop          -3.292         0.486          0.396          0              40.455         0              39
  13  RemoteControl   -2.525         0.503          0.390          0              0              0              39
  14  CreditCard      -1.934         0.501          0.108          0              0              0              39
  15  Statue          -0.138         0.863          3.896          0              0              0              41
  16  Curtains        -0.089         2.460          2.111          0              0              0
  17  Curtains        -1.146         1.383          4.530          0              0              0
  18  Drawer          -2.288         0.267          4.112          0              180            0
  19  Drawer          -2.836         0.750          4.111          0              180            0
  20  Dresser         -2.560         0.005          4.224          0              180            0
  21  Drawer          -2.834         0.267          4.113          0              180            0
  22  Drawer          -2.288         0.749          4.110          0              180            0
  23  LightSwitch     -7.0           1.363          2.605          0              74.999         0
  24  Television      -2.554         1.583          4.300          0              180            0
  25  FloorLamp       -0.301         0.014          -0.129         1.374          0              0
  26  Painting        0.0            1.583          4.006          90             270            0
  27  DeskLamp        -6.766         0.411          -0.028         0              0              0
  28  GarbageCan      -4.115         -0.032         -0.161         0              0              0
  29  Painting        -3.704         1.718          4.600          90             180            0
  30  Window          -0.037         1.705          2.096          90             270            0
  31  Window          -1.157         1.697          4.593          90             180            0
  32  HousePlant      -0.287         0.395          2.108          0              0              0
  33  Chair           -6.022         0.005          0.092          0              338.430        0
  34  Ottoman         -1.773         0.004          1.807          0              0              0
  35  SideTable       -6.720         0.006          1.513          0              326.715        0
  36  SideTable       -4.292         0.006          0.413          0              0              0
  37  ArmChair        -4.384         0.008          1.395          0              90             0
  38  SideTable       -0.253         0.004          2.102          0              0              0
  39  Sofa            -2.524         0.010          0.263          0              0              0
  40  Drawer          -0.357         0.208          3.798          0              0              0
  41  Dresser         -0.271         0.004          4.011          0              270            0
  42  Drawer          -0.359         0.581          3.795          0              0              0
  43  Drawer          -0.357         0.583          4.225          0              0              0
  44  Drawer          -0.358         0.210          4.221          0              0              0
  45  DogBed          -0.844         0.007          0.138          0              90             0
  46  NorthWall
  47  EastWall
  48  SouthWall
  49  WestWall

Plan:
STEP 1: Go forward a step, turn right, go forward, turn right before the foot stool, go forward to the couch. | STEP 2: Take the keys from the couch. | STEP 3: Turn left, go forward to the wall, turn left, go forward to the plant, turn left. | STEP 4: Put the keys on the foot stool on the lower left corner. | STEP 5: Go forward to the foot stool, turn right, go forward, turn right after passing the foot stool, go forward a step, turn right, go forward to the dresser with the TV. | STEP 6: Take the keys from the dresser. | STEP 7: Turn right, go forward to the dresser, turn right, go forward, turn right at the foot stool, go back a step from the foot stool. | STEP 8: Put the keys on the foot stool to the right of the first keys. | END