Task: Put the keys into the dresser drawer

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.0           0.901          -1.25          0              180            0
   1  CellPhone       0.201          0.974          -1.852         0              270            0              39
   2  CellPhone       -0.300         0.221          -1.768         0              270            0              47
   3  Pen             0.398          0.042          -1.711         0              270            0              45
   4  Pencil          -0.395         0.609          -1.769         0              270            0              38
   5  Pencil          -0.393         0.221          -1.712         0              270            0              47
   6  CreditCard      -0.486         0.217          -1.600         0              270            0              47
   7  CreditCard      0.679          0.036          -1.711         0              270            0              45
   8  KeyChain        1.646          0.041          -2.078         0              88.075         0              52
   9  KeyChain        0.000          0.973          -1.852         0              270            0              39
  10  KeyChain        1.696          0.041          -1.971         0              88.075         0              52
  11  Book            1.392          0.417          -0.413         0              0              0              49
  12  Laptop          1.145          0.413          0.252          0              0              0              49
  13  Box             -1.751         0.252          1.499          0              340.773        0              Floor|+00.00|
  14  Book            1.392          0.417          0.585          0              0              0              49
  15  Cloth           -1.146         0.000          -2.123         0              0              0              Floor|+00.00|
  16  CellPhone       2.166          0.473          1.363          0              0              0              36
  17  Pencil          0.000          0.974          -1.778         0              270            0              39
  18  AlarmClock      2.153          0.565          1.23           0              213.033        0              37
  19  TeddyBear       -2.236         0.000          1.457          0              319.128        0              Floor|+00.00|
  20  CreditCard      2.114          0.570          1.457          0              180            0              37
  21  KeyChain        2.298          0.571          1.294          0              270            0              37
  22  Pillow          2.11           0.422          0.331          0              270            0              49
  23  Pillow          2.15           0.433          -0.241         0              282.078        0              49
  24  Laptop          -0.5           0.965          -1.715         0              24.156         0              39
  25  Bowl            0.402          0.972          -1.557         0              270            0              39
  26  Cloth           -1.288         0.000          -1.936         0              357.341        356.936        Floor|+00.00|
  27  CD              -0.200         0.971          -1.557         0              270            0              39
  28  Pen             0.583          0.415          -1.712         0              270            0              48
  29  DeskLamp        2.302          0.561          1.435          0              315            0
  30  GarbageCan      -2.208         -0.023         -1.742         0              77.663         0
  31  Poster          2.439          1.508          0.014          90             270            0
  32  LightSwitch     -2.457         1.274          -0.096         0              90             0
  33  Mirror          2.454          1.322          -1.414         0              90             0
  34  Window          -1.440         1.815          -2.354         90             0              0
  35  Window          1.401          1.815          -2.354         90             0              0
  36  Drawer          2.251          0.468          1.333          0              270            0
  37  SideTable       2.243          -0.001         1.331          0              270            0
  38  Drawer          -0.385         0.681          -1.631         0              0              0
  39  Dresser         0.011          0.001          -1.676         0              0              0
  40  Drawer          -0.385         0.105          -1.631         0              0              0
  41  Drawer          0.408          0.868          -1.632         0              0              0
  42  Drawer          -0.385         0.487          -1.631         0              0              0
  43  Drawer          -0.385         0.868          -1.632         0              0              0
  44  Drawer          0.408          0.681          -1.631         0              0              0
  45  Drawer          0.408          0.105          -1.631         0              0              0
  46  Drawer          0.408          0.292          -1.631         0              0              0
  47  Drawer          -0.385         0.292          -1.631         0              0              0
  48  Drawer          0.408          0.487          -1.631         0              0              0
  49  Bed             1.377          0.004          0.072          0              90             0
  50  Blinds          1.422          3.115          -2.339         0              0              0
  51  Blinds          -1.422         3.115          -2.339         0              0              0
  52  Safe            1.640          0.000          -2.040         0              355.244        0
  53  LaundryHamper   -1.564         0.001          -1.927         0              45             0
  54  NorthWall
  55  EastWall
  56  SouthWall
  57  WestWall

Plan:
STEP 1: Turn around and walk forward, then turn right and walk past the left side of the bed to the small side table | STEP 2: Pick up the keys from the side table | STEP 3: Turn around and walk around the end of the bed and over to the wooden dresser | STEP 4: Open the left hand drawer second from top and put the keys in it | STEP 5: Take a step forward toward the dresser | STEP 6: Pick up the keys from the top of the dresser | STEP 7: Turn in a circle and face toward the same dresser | STEP 8: Open the left drawer second from top and put the keys in it | END