Task: put both sets of keys in the top drawer of the dresser

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.25           0.901          1.0            0              180            0
   1  Pencil          -0.602         0.974          -1.778         0              270            0              31
   2  Pencil          0.304          0.039          -1.711         0              270            0              37
   3  KeyChain        -0.200         0.973          -1.778         0              270            0              31
   4  AlarmClock      -0.401         0.971          -1.557         0              270            0              31
   5  Box             -1.751         0.252          1.499          0              340.773        0              Floor|+00.00|
   6  Book            0.211          0.801          -1.598         0              270            0              33
   7  Cloth           -1.146         0.000          -2.123         0              0              0              Floor|+00.00|
   8  CellPhone       2.068          0.573          1.403          0              180            0              29
   9  Pencil          -0.200         0.974          -1.631         0              270            0              31
  10  AlarmClock      -0.401         0.972          -1.852         0              270            0              31
  11  TeddyBear       -2.236         0.000          1.457          0              319.128        0              Floor|+00.00|
  12  CreditCard      2.068          0.572          1.185          0              180            0              29
  13  KeyChain        -0.602         0.973          -1.557         0              270            0              31
  14  Pillow          0.649          0.477          -0.247         0              0              0              41
  15  Pillow          2.15           0.433          -0.241         0              282.078        0              41
  16  Laptop          1.145          0.413          0.252          0              0              0              41
  17  Bowl            0.000          0.972          -1.852         0              270            0              31
  18  Cloth           -1.288         0.000          -1.936         0              357.341        356.936        Floor|+00.00|
  19  CD              0.212          0.216          -1.487         0              270            0              38
  20  Pen             -0.302         0.415          -1.712         0              270            0              34
  21  DeskLamp        2.302          0.561          1.435          0              315            0
  22  GarbageCan      -2.208         -0.023         -1.742         0              77.663         0
  23  Poster          2.439          1.508          0.014          90             270            0
  24  LightSwitch     -2.457         1.274          -0.096         0              90             0
  25  Mirror          2.454          1.322          -1.414         0              90             0
  26  Window          -1.440         1.815          -2.354         90             0              0
  27  Window          1.401          1.815          -2.354         90             0              0
  28  Drawer          2.251          0.468          1.333          0              270            0
  29  SideTable       2.243          -0.001         1.331          0              270            0
  30  Drawer          -0.385         0.681          -1.631         0              0              0
  31  Dresser         0.011          0.001          -1.676         0              0              0
  32  Drawer          -0.385         0.105          -1.631         0              0              0
  33  Drawer          0.408          0.868          -1.632         0              0              0
  34  Drawer          -0.385         0.487          -1.631         0              0              0
  35  Drawer          -0.385         0.868          -1.632         0              0              0
  36  Drawer          0.408          0.681          -1.631         0              0              0
  37  Drawer          0.408          0.105          -1.631         0              0              0
  38  Drawer          0.408          0.292          -1.631         0              0              0
  39  Drawer          -0.385         0.292          -1.631         0              0              0
  40  Drawer          0.408          0.487          -1.631         0              0              0
  41  Bed             1.377          0.004          0.072          0              90             0
  42  Blinds          1.422          3.115          -2.339         0              0              0
  43  Blinds          -1.422         3.115          -2.339         0              0              0
  44  Safe            1.640          0.000          -2.040         0              355.244        0
  45  LaundryHamper   -1.564         0.001          -1.927         0              45             0
  46  NorthWall
  47  EastWall
  48  SouthWall
  49  WestWall

Plan:
STEP 1: Head to the dresser across the room | STEP 2: Take the keys from the left side of the dresser | STEP 3: Turn around, take a few steps to the right, turn around | STEP 4: Open the top drawer of the dresser | STEP 5: Put the keys in the drawer, close the drawer | STEP 6: Take the keys from the dresser | STEP 7: Turn around two times | STEP 8: Open the top drawer of the dresser, Put the keys in the drawer, close the drawer | END