Task: Place keys on a dresser

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           2.5            0.900          -0.75          0              180            0
   1  Statue          -1.657         0.982          -0.540         0              90             0              47
   2  CD              2.314          0.432          1.587          0              90             0              63
   3  CellPhone       2.360          0.681          -1.581         0              0              0              60
   4  Pen             -1.804         0.976          -0.339         0              0              0              47
   5  Pen             2.283          0.686          -1.626         0              0              0              60
   6  Pencil          -1.699         1.643          -2.415         0              90             0              41
   7  KeyChain        1.576          0.682          2.262          0              0              0              57
   8  Book            1.743          0.774          -0.106         0              0              0              29
   9  AlarmClock      -1.636         1.637          -2.073         0              90             0              41
  10  AlarmClock      2.437          0.680          -1.762         0              0              0              60
  11  Pillow          1.261          0.836          -0.106         0              0              0              29
  12  Laptop          0.537          0.773          -0.990         0              0              0              29
  13  Book            0.537          0.774          0.188          0              0              0              29
  14  KeyChain        -1.762         1.147          -1.845         0              180            0              42
  15  AlarmClock      -1.636         1.146          -1.959         0              90             0              42
  16  Pillow          1.413          0.794          -1.505         0              0              0              29
  17  Pillow          0.778          0.836          -0.401         0              0              0              29
  18  Vase            -1.509         0.971          -0.540         0              0              0              47
  19  Laptop          -1.628         0.965          0.084          0              104.999        0              47
  20  Vase            -1.509         0.975          -0.742         0              0              0              47
  21  Pencil          2.283          0.686          -1.762         0              0              0              60
  22  CreditCard      -1.607         0.036          0.162          0              0              0              46
  23  Boots           -1.842         0.000          -1.077         0              135            0
  24  Pen             -1.550         0.805          -0.723         0              0              0              48
  25  CellPhone       -1.878         0.971          0.062          0              0              0              47
  26  CD              -1.440         0.605          -0.721         0              0              0              53
  27  Bowl            -1.684         1.135          -2.300         0              346.900        0              42
  28  Statue          1.731          0.691          2.082          0              0              0              57
  29  Bed             1.017          0.003          -0.686         0              180            0
  30  HousePlant      -1.749         0.971          0.463          0              0              0
  31  GarbageCan      -1.665         -0.000         0.953          0              45             0
  32  Painting        0.381          1.976          -1.895         90             0              0
  33  Painting        0.879          1.976          -1.895         90             0              0
  34  Painting        1.373          1.976          -1.895         90             0              0
  35  LightSwitch     -0.164         1.085          2.450          0              180            0
  36  Mirror          -1.950         1.735          -0.206         0              270            0
  37  Window          -1.098         1.570          -3.230         90             0              0
  38  DeskLamp        1.404          0.668          2.209          0              0              0
  39  DeskLamp        2.596          0.668          -1.710         0              0              0
  40  Blinds          -1.062         2.361          -3.173         0              0              0
  41  Shelf           -1.675         1.871          -2.053         0              90             0
  42  Shelf           -1.675         1.383          -2.053         0              90             0
  43  Drawer          -1.715         0.832          -2.053         0              90             0
  44  ShelvingUnit    -1.723         0.007          -2.053         0              90             0
  45  Drawer          -1.713         0.339          -2.053         0              90             0
  46  Drawer          -1.629         0.104          0.243          0              90             0
  47  Dresser         -1.674         0.000          -0.153         0              90             0
  48  Drawer          -1.630         0.868          -0.550         0              90             0
  49  Drawer          -1.630         0.680          0.243          0              90             0
  50  Drawer          -1.629         0.104          -0.550         0              90             0
  51  Drawer          -1.630         0.680          -0.550         0              90             0
  52  Drawer          -1.630         0.868          0.243          0              90             0
  53  Drawer          -1.629         0.486          -0.550         0              90             0
  54  Drawer          -1.629         0.291          0.243          0              90             0
  55  Drawer          -1.629         0.291          -0.550         0              90             0
  56  Drawer          -1.630         0.486          0.243          0              90             0
  57  SideTable       1.576          -0.001         2.137          0              180            0
  58  Drawer          1.576          0.163          2.070          0              180            0
  59  Drawer          1.576          0.455          2.070          0              180            0
  60  SideTable       2.437          -0.001         -1.603         0              0              0
  61  Drawer          2.438          0.163          -1.536         0              0              0
  62  Drawer          2.438          0.455          -1.536         0              0              0
  63  ArmChair        2.393          -0.001         1.943          0              180            0
  64  NorthWall
  65  EastWall
  66  SouthWall
  67  WestWall

Plan:
STEP 1: Turn around and walk to the end of the bed, turn left to go around the bed, then turn left to continue going around the bed then hang right and walk to the tall black shelf | STEP 2: Pick up the keys that are behind the alarm clock | STEP 3: Turn to the right and walk to the long black dresser, stand in front of the left side of the dresser | STEP 4: Place the keys on the dress to the right of the golden statues | STEP 5: Turn right and walk to the smaller black night stand that is sitting to the left of the chair at the end of the bed | STEP 6: Pick up the keys that are sitting to the right of the lamp | STEP 7: Turn left and walk forward, then turn left to continue around the bed, take a right and stand in front of the long black dresser. Stand toward the left side of the dresser | STEP 8: Place the keys on the dresser to the right of the other set of keys | END