Task: Take two sets of keys out of the bed side table drawer and place them on top of the table.

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          0.25           0              0              0
   1  CD              2.237          0.449          -0.953         0              119.999        0              52
   2  CD              2.995          0.984          0.155          0              180            0              39
   3  CellPhone       0.086          0.694          0.559          0              0              0              31
   4  CellPhone       -1.648         0.663          -1.405         0              0              0              49
   5  Pen             2.732          0.993          1.576          0              180            0              39
   6  Pen             2.732          0.993          1.292          0              180            0              39
   7  CreditCard      -1.562         0.357          1.422          0              0              0              48
   8  CreditCard      2.907          0.985          1.292          0              180            0              39
   9  KeyChain        -1.468         0.358          -1.25          0              90             0              50
  10  KeyChain        -1.515         0.358          -1.363         0              0              0              50
  11  Pencil          2.732          0.989          0.155          0              180            0              39
  12  Pencil          -1.603         0.667          -1.094         0              0              0              49
  13  Pillow          -0.984         0.779          -0.332         0              0              0              31
  14  Laptop          -0.984         0.691          0.559          0              0              0              31
  15  Book            -1.519         0.693          0.336          0              0              0              31
  16  KeyChain        2.466          0.450          -1.085         0              119.999        0              52
  17  Laptop          2.437          0.447          -0.737         0              119.999        0              52
  18  Cloth           1.763          0.000          -1.732         0              70.590         0
  19  CreditCard      -1.514         0.662          1.323          0              0              0              51
  20  Pen             2.732          0.993          1.007          0              180            0              39
  21  Pencil          -1.648         0.667          1.479          0              0              0              51
  22  BaseballBat     3.076          0.629          -1.762         0              0              338.300
  23  AlarmClock      2.819          0.984          1.860          0              180            0              39
  24  BaseballBat     0.808          0.05           2.151          0              0              270
  25  Pillow          0.086          0.779          0.782          0              0              0              31
  26  Pillow          -0.181         0.779          -0.332         0              0              0              31
  27  CellPhone       -1.558         0.663          -1.25          0              0              0              49
  28  CD              2.575          0.885          0.335          0              180            0              46
  29  Mug             2.711          0.178          0.349          0              180            0              45
  30  Curtains        -0.020         2.923          -1.853         0              0              0
  31  Bed             -0.750         -0.018         0.113          1.247          270            0
  32  LightSwitch     1.317          1.297          2.197          0              180            0
  33  DeskLamp        -1.618         0.669          1.486          0              0              0
  34  DeskLamp        -1.631         0.669          -1.308         0              0              0
  35  Painting        1.524          1.516          -1.853         90             0              0
  36  GarbageCan      1.352          0.000          -1.685         0              0              0
  37  Mirror          0.575          1.351          2.197          0              0              0
  38  Window          -0.013         1.687          -1.919         90             0              0
  39  Dresser         2.819          0.000          1.008          0              270            0
  40  Drawer          2.572          0.901          1.784          0              270            0
  41  Cabinet         2.484          0.499          1.014          0              270            0
  42  Cabinet         2.484          0.499          0.999          0              270            0
  43  Drawer          2.572          0.901          1.263          0              270            0
  44  Drawer          2.572          0.901          0.748          0              270            0
  45  Cabinet         2.484          0.499          -0.019         0              270            0
  46  Drawer          2.572          0.901          0.230          0              270            0
  47  Cabinet         2.484          0.499          2.033          0              270            0
  48  Drawer          -1.533         0.459          1.478          0              90             0
  49  SideTable       -1.599         0.001          -1.249         0              90             0
  50  Drawer          -1.533         0.459          -1.250         0              90             0
  51  SideTable       -1.599         0.001          1.479          0              90             0
  52  ArmChair        2.574          0.002          -0.817         0              299.998        0
  53  Shelf           -1.552         0.040          -1.400         0              90             0
  54  Shelf           -1.552         0.040          -1.133         0              90             0
  55  Shelf           -1.552         0.040          1.328          0              90             0
  56  Shelf           -1.552         0.040          1.595          0              90             0
  57  NorthWall
  58  EastWall
  59  SouthWall
  60  WestWall

Plan:
STEP 1: Turn around and walk toward the blue trash can. Turn right and walk to the bed side table on the left side of the bed. | STEP 2: Open the drawer of the bed side table and take out the keys. | STEP 3: Turn around and walk toward the trash can. Turn back around and face the bed side table. | STEP 4: Put the keys on top of the table. | STEP 5: Walk up to the bed side table. | STEP 6: Open the drawer of the bed side table. | STEP 7: Take out a set of keys from the drawer. Turn around walk toward the trash can. Turn around and face the bed side table. | STEP 8: Place the set of keys on top of the bed side table. | END