Task: place two sets of keys in the safe on the ground

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -3.0           0.902          -2.5           0              90             0
   1  KeyChain        -2.238         0.655          -2.202         0              0              0              56
   2  KeyChain        -1.093         0.742          1.398          0              0              0              35
   3  CreditCard      -1.102         0.654          -1.693         0              0              0              56
   4  CreditCard      -1.556         0.654          -1.947         0              0              0              56
   5  RemoteControl   -0.561         0.693          5.753          0              315            0              50
   6  RemoteControl   -1.685         0.454          4.187          0              0              0              69
   7  Pillow          -3.585         0.451          4.949          0              90             0              59
   8  Box             -1.783         0.945          -2.074         0              90             0              56
   9  Vase            -0.847         0.750          1.398          0              0              0              35
  10  CellPhone       0.137          0.745          1.105          0              0              0              35
  11  WateringCan     -3.580         0.003          5.507          2.684          0              0              Floor|-04.41|
  12  KeyChain        -0.847         0.742          1.202          0              0              0              35
  13  Vase            -4.242         0.789          1.181          0              0              0              28
  14  Vase            -4.228         0.789          0.756          0              0              0              28
  15  Laptop          -0.108         0.739          1.593          0              0              0              35
  16  Pillow          -3.483         0.451          3.348          0              90             0              59
  17  RemoteControl   -1.783         0.656          -2.456         0              0              0              56
  18  CreditCard      -2.246         0.452          3.910          0              0              0              69
  19  Vase            -4.225         0.789          0.382          0              0              0              28
  20  Statue          -4.223         1.263          0.399          0              0              0              25
  21  Statue          -2.465         0.665          -1.820         0              0              0              56
  22  Statue          -1.948         0.506          4.122          0              0              0              69
  23  Shelf           -4.253         2.157          0.771          0              0              0
  24  Painting        -3.368         1.741          -0.298         0              0              0
  25  Shelf           -4.253         1.306          0.771          0              0              0
  26  Painting        -1.756         1.424          -3.595         0              0              0
  27  Shelf           -4.253         1.690          0.771          0              0              0
  28  Shelf           -4.261         0.833          0.771          0              0              0
  29  Drawer          0.411          0.581          1.221          0              180            0
  30  Drawer          -0.000         0.170          1.221          0              180            0
  31  Drawer          -0.000         0.581          1.221          0              180            0
  32  Drawer          0.411          0.375          1.221          0              180            0
  33  Drawer          0.411          0.170          1.221          0              180            0
  34  Drawer          -0.000         0.375          1.221          0              180            0
  35  Desk            -0.352         0.003          1.371          0              180            0
  36  FloorLamp       0.391          -0.001         5.157          0              0              0
  37  Window          -2.828         0.470          -0.157         90             199.328        0
  38  Window          -4.410         1.702          1.787          90             270            0
  39  Window          -3.638         1.702          6.735          90             0              0
  40  Window          -4.410         1.702          2.790          90             270            0
  41  Window          -2.827         1.702          -0.157         90             199.328        0
  42  Window          -0.131         1.702          6.735          90             0              0
  43  Window          -1.013         1.702          -0.154         90             159.633        0
  44  Window          -4.410         1.702          5.980          90             270            0
  45  Television      -0.153         1.176          5.790          0              225            0
  46  GarbageCan      0.357          0.003          2.159          0              90             0
  47  DeskLamp        0.277          0.735          1.381          0              0              0
  48  HousePlant      -1.819         0.641          -2.011         0              315            0
  49  LightSwitch     -2.740         1.495          -0.405         0              180            0
  50  TVStand         -0.118         0.001          5.874          0              45             0
  51  Chair           -1.353         0.002          -2.872         0              349.207        0
  52  Chair           -2.220         0.002          -1.298         0              168.118        0
  53  Chair           -1.515         0.007          -1.331         358.639        187.454        0
  54  Chair           -2.189         0.002          -2.835         0              2.328          0
  55  Safe            0.174          0.001          -0.071         0              323.940        0
  56  DiningTable     -1.783         0.003          -2.039         0              0              0
  57  Chair           -0.636         0.010          0.993          0              358.396        0
  58  Sofa            -2.161         0.006          6.115          0              180            0
  59  Sofa            -3.782         0.006          4.153          0              90             0
  60  Shelf           -1.095         0.607          1.321          0              180            0
  61  Shelf           -1.267         0.607          1.321          0              180            0
  62  Shelf           -1.267         0.401          1.321          0              180            0
  63  Shelf           -1.095         0.196          1.320          0              180            0
  64  Shelf           -1.095         0.401          1.321          0              180            0
  65  Shelf           -1.267         0.196          1.320          0              180            0
  66  ArmChair        -2.628         0.009          2.421          0              0              0
  67  Chair           -0.485         0.010          4.452          0              270            0
  68  Chair           -0.431         0.010          3.595          0              270            0
  69  CoffeeTable     -1.965         0.000          4.187          0              0              0
  70  NorthWall
  71  EastWall
  72  SouthWall
  73  WestWall

Plan:
STEP 1: turn left and walk forwards until you reach the desk on your right, then move to the front of the desk | STEP 2: grab the keys off of the desk | STEP 3: turn right and walk towards the safe on the ground in the corner of the room | STEP 4: place the keys inside of the safe | STEP 5: turn around and walk to the opening of the two white doors, then turn right and walk to the end of the desk, then turn right and move to the back end of the desk | STEP 6: grab the keys off of the desk | STEP 7: move around to the other side of the desk, then turn to face the corner of the room with the safe on the ground | STEP 8: place the keys in the safe again | END