Task: To put some keys in the drawer of the table they are on.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.75          0.900          1.0            0              90             0
   1  Vase            -3.100         0.790          -2.948         0              270            0              35
   2  Vase            1.846          0.881          0.777          0              0              0              42
   3  KeyChain        1.886          0.878          1.198          0              0              0              42
   4  KeyChain        -2.730         0.784          -3.614         0              270            0              35
   5  RemoteControl   1.688          0.877          0.988          0              0              0              42
   6  RemoteControl   -2.100         0.761          0.764          0              90             0              29
   7  Laptop          -3.348         0.781          -3.613         0              270            0              35
   8  Box             -3.101         0.898          -4.057         0              0              0              35
   9  KeyChain        -2.175         0.760          0.314          0              90             0              29
  10  Laptop          0.577          0.466          -0.537         0              225            0              36
  11  Statue          -3.035         0.78           -3.752         0              0              0              35
  12  Pillow          1.036          0.581          -0.213         0              325.391        0              36
  13  RemoteControl   -0.601         0.890          -2.897         0              0              0              18
  14  Statue          -0.734         1.320          -2.723         0              0              0              19
  15  CreditCard      -2.730         0.786          -2.948         0              270            0              35
  16  Vase            -3.100         0.787          -3.170         0              270            0              35
  17  Statue          -2.400         0.770          1.214          0              270            0              29
  18  Shelf           -0.612         0.880          -2.832         0              0              0
  19  Shelf           -0.612         1.317          -2.832         0              0              0
  20  LightSwitch     -2.599         1.254          -0.774         0              90             0
  21  GarbageCan      -1.343         0.015          -4.825         0              0              0
  22  HousePlant      0.506          1.097          2.235          0              0              0
  23  Painting        -0.509         1.742          2.404          90             0              0
  24  FloorLamp       1.712          0.001          0.374          0              0              0
  25  Painting        -5.0           1.626          -3.548         90             270            0
  26  Television      -2.258         1.245          0.755          0              90             0
  27  Shelf           -2.238         0.474          0.396          0              90             0
  28  Shelf           -2.238         0.273          0.396          0              90             0
  29  TVStand         -2.244         -0.000         0.762          0              90             0
  30  Shelf           -2.238         0.302          1.130          0              90             0
  31  Shelf           -2.238         0.442          0.764          0              90             0
  32  Shelf           -2.238         0.597          1.130          0              90             0
  33  Shelf           -2.238         0.643          0.396          0              90             0
  34  ArmChair        -0.559         0.000          1.951          0              180            0
  35  DiningTable     -3.101         0.000          -3.613         0              270            0
  36  Sofa            0.880          0.007          -0.591         0              315            0
  37  Ottoman         -0.576         0.008          1.052          0              180            0
  38  Chair           -3.501         0.002          -3.716         0              90             0
  39  Chair           -3.182         0.002          -2.813         0              165.000        0
  40  Chair           -3.130         0.002          -4.418         0              345.001        0
  41  Chair           -2.686         0.002          -3.301         0              285.000        0
  42  SideTable       1.825          0.000          1.092          0              270            0
  43  Drawer          1.761          0.774          1.092          0              270            0
  44  NorthWall
  45  EastWall
  46  SouthWall
  47  WestWall

Plan:
STEP 1: Walk across the room to face the black table. | STEP 2: Pick up the keys on the black table. | STEP 3: Take a step back to face the drawer in the black table. | STEP 4: Place the keys in the right drawer of the black table. | END