Task: Bring the keys to the dresser from the nightstand

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              180            0
   1  CD              -0.488         0.605          -1.600         0              270            0              33
   2  Pen             0.305          0.611          -1.544         0              270            0              39
   3  Pen             -0.207         0.805          -1.768         0              270            0              38
   4  CreditCard      0.402          0.970          -1.484         0              270            0              34
   5  CreditCard      -0.303         0.605          -1.544         0              270            0              38
   6  Book            1.145          0.417          -0.413         0              0              0              44
   7  AlarmClock      0.402          0.971          -1.631         0              270            0              34
   8  Box             -1.751         0.252          1.499          0              340.773        0              Floor|+00.00|
   9  Book            0.649          0.417          -0.247         0              0              0              44
  10  Cloth           -1.146         0.000          -2.123         0              0              0              Floor|+00.00|
  11  CellPhone       -0.200         0.974          -1.705         0              270            0              34
  12  Pencil          2.259          0.574          1.171          30.734         355.267        177.238        32
  13  AlarmClock      2.153          0.565          1.208          0              214.958        0              32
  14  TeddyBear       -2.236         0.000          1.457          0              319.128        0              Floor|+00.00|
  15  CreditCard      0.201          0.970          -1.631         0              270            0              34
  16  KeyChain        2.114          0.573          1.348          0              90             0              32
  17  Pillow          2.11           0.422          0.331          0              270            0              44
  18  Pillow          2.15           0.433          -0.241         0              282.078        0              44
  19  Laptop          1.640          0.413          0.252          0              0              0              44
  20  Bowl            -0.401         0.973          -1.778         0              270            0              34
  21  Cloth           -1.288         0.000          -1.936         0              357.341        356.936        Floor|+00.00|
  22  CD              1.696          0.040          -1.971         0              88.075         0              47
  23  Pen             -2.194         0.060          -1.785         0              77.664         0              25
  24  DeskLamp        2.302          0.561          1.435          0              315            0
  25  GarbageCan      -2.208         -0.023         -1.742         0              77.663         0
  26  Poster          2.439          1.508          0.014          90             270            0
  27  LightSwitch     -2.457         1.274          -0.096         0              90             0
  28  Mirror          2.454          1.322          -1.414         0              90             0
  29  Window          -1.440         1.815          -2.354         90             0              0
  30  Window          1.401          1.815          -2.354         90             0              0
  31  Drawer          2.251          0.468          1.333          0              270            0
  32  SideTable       2.243          -0.001         1.331          0              270            0
  33  Drawer          -0.385         0.681          -1.631         0              0              0
  34  Dresser         0.011          0.001          -1.676         0              0              0
  35  Drawer          -0.385         0.105          -1.631         0              0              0
  36  Drawer          0.408          0.868          -1.632         0              0              0
  37  Drawer          -0.385         0.487          -1.631         0              0              0
  38  Drawer          -0.385         0.868          -1.632         0              0              0
  39  Drawer          0.408          0.681          -1.631         0              0              0
  40  Drawer          0.408          0.105          -1.631         0              0              0
  41  Drawer          0.408          0.292          -1.631         0              0              0
  42  Drawer          -0.385         0.292          -1.631         0              0              0
  43  Drawer          0.408          0.487          -1.631         0              0              0
  44  Bed             1.377          0.004          0.072          0              90             0
  45  Blinds          1.422          3.115          -2.339         0              0              0
  46  Blinds          -1.422         3.115          -2.339         0              0              0
  47  Safe            1.640          0.000          -2.040         0              355.244        0
  48  LaundryHamper   -1.564         0.001          -1.927         0              45             0
  49  NorthWall
  50  EastWall
  51  SouthWall
  52  WestWall

Plan:
STEP 1: Turn left, go forward a bit, turn left, go to the wall, turn right and go to the nightstand | STEP 2: Pick up the keys on the nightstand | STEP 3: Turn around, go forward, turn left at the end of the bed, go forward, turn right at the end of the bed, go forward a bit and turn right in front of the dresser | STEP 4: Put the keys on the dresser | END