Task: place two sets of keys on top 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           0.5            0.900          1.75           0              270            0
   1  Bowl            -1.699         1.637          -1.731         0              90             0              43
   2  Bowl            -1.699         1.637          -2.073         0              90             0              43
   3  Vase            2.360          0.681          -1.762         0              0              0              62
   4  Statue          -1.509         0.982          0.464          0              90             0              49
   5  CD              -1.657         0.971          -0.339         0              0              0              49
   6  CellPhone       2.595          0.433          1.753          0              90             0              65
   7  CellPhone       -1.730         1.146          -1.731         0              90             0              44
   8  Pen             -1.509         0.977          -0.540         0              0              0              49
   9  Pen             -1.668         1.152          -1.959         0              90             0              44
  10  Pencil          -1.552         0.222          0.348          0              0              0              56
  11  Pencil          -1.664         0.415          0.164          0              0              0              58
  12  KeyChain        2.225          0.442          1.843          0              90             0              65
  13  Book            -1.552         0.216          -0.443         0              0              0              57
  14  Laptop          1.743          0.773          -0.106         0              0              0              31
  15  Book            -1.657         0.971          -0.138         0              0              0              49
  16  KeyChain        -1.699         1.147          -2.073         0              90             0              44
  17  AlarmClock      -1.804         0.970          -0.742         0              0              0              49
  18  Pillow          2.410          0.513          1.841          0              90             0              65
  19  Pillow          0.652          0.794          -1.531         0              0              0              31
  20  Vase            -1.804         0.973          -0.540         0              0              0              49
  21  Laptop          0.778          0.773          -0.695         0              0              0              31
  22  Vase            -1.804         0.975          0.263          0              0              0              49
  23  Pencil          -1.552         0.611          0.072          0              0              0              58
  24  CreditCard      -1.721         0.410          -0.721         0              0              0              55
  25  Boots           -1.842         0.000          -1.077         0              135            0
  26  Pen             -1.583         0.977          -0.742         0              0              0              49
  27  CellPhone       -1.436         0.972          -0.138         0              0              0              49
  28  CD              -1.878         0.971          -0.138         0              0              0              49
  29  Bowl            1.731          0.681          2.172          0              0              0              59
  30  Statue          -1.657         0.982          0.263          0              90             0              49
  31  Bed             1.017          0.003          -0.686         0              180            0
  32  HousePlant      -1.749         0.971          0.463          0              0              0
  33  GarbageCan      -1.665         -0.000         0.953          0              45             0
  34  Painting        0.381          1.976          -1.895         90             0              0
  35  Painting        0.879          1.976          -1.895         90             0              0
  36  Painting        1.373          1.976          -1.895         90             0              0
  37  LightSwitch     -0.164         1.085          2.450          0              180            0
  38  Mirror          -1.950         1.735          -0.206         0              270            0
  39  Window          -1.098         1.570          -3.230         90             0              0
  40  DeskLamp        1.404          0.668          2.209          0              0              0
  41  DeskLamp        2.596          0.668          -1.710         0              0              0
  42  Blinds          -1.062         2.361          -3.173         0              0              0
  43  Shelf           -1.675         1.871          -2.053         0              90             0
  44  Shelf           -1.675         1.383          -2.053         0              90             0
  45  Drawer          -1.715         0.832          -2.053         0              90             0
  46  ShelvingUnit    -1.723         0.007          -2.053         0              90             0
  47  Drawer          -1.713         0.339          -2.053         0              90             0
  48  Drawer          -1.629         0.104          0.243          0              90             0
  49  Dresser         -1.674         0.000          -0.153         0              90             0
  50  Drawer          -1.630         0.868          -0.550         0              90             0
  51  Drawer          -1.630         0.680          0.243          0              90             0
  52  Drawer          -1.629         0.104          -0.550         0              90             0
  53  Drawer          -1.630         0.680          -0.550         0              90             0
  54  Drawer          -1.630         0.868          0.243          0              90             0
  55  Drawer          -1.629         0.486          -0.550         0              90             0
  56  Drawer          -1.629         0.291          0.243          0              90             0
  57  Drawer          -1.629         0.291          -0.550         0              90             0
  58  Drawer          -1.630         0.486          0.243          0              90             0
  59  SideTable       1.576          -0.001         2.137          0              180            0
  60  Drawer          1.576          0.163          2.070          0              180            0
  61  Drawer          1.576          0.455          2.070          0              180            0
  62  SideTable       2.437          -0.001         -1.603         0              0              0
  63  Drawer          2.438          0.163          -1.536         0              0              0
  64  Drawer          2.438          0.455          -1.536         0              0              0
  65  ArmChair        2.393          -0.001         1.943          0              180            0
  66  NorthWall
  67  EastWall
  68  SouthWall
  69  WestWall

Plan:
STEP 1: walk over to the right side of the bed on the left, keep walking to the end of the room where the cabinet is on the right, turn to face the cabinet | STEP 2: grab the keys off of the cabinet there | STEP 3: turn right and walk to the dresser on the left ahead | STEP 4: place the keys down on top of the left side of the dresser | STEP 5: turn right and walk to the foot of the bed on the right, keep walking though and walk over to the small chair in the corner of the room ahead | STEP 6: grab the keys off of the small chair there | STEP 7: turn left and walk back over to the dresser at the far end of the room up ahead on the left | STEP 8: place the keys down on top of the left side of the dresser again | END