Task: Put the keys in the safe

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           0.900          -3.0           0              0              0
   1  Mug             2.556          0.894          -3.044         0              90             0              35
   2  CD              2.678          1.249          1.737          0              0              0              31
   3  CD              1.858          0.080          -3.177         0              0              0              34
   4  Pen             2.779          1.234          1.511          0              270            0              42
   5  Pen             1.694          0.902          -3.182         0              0              0              35
   6  Pencil          2.638          1.232          1.283          0              270            0              42
   7  AlarmClock      2.779          1.232          1.397          0              270            0              42
   8  Book            -1.591         0.618          -2.261         0              0              0              22
   9  CreditCard      2.039          0.896          -3.389         0              0              0              35
  10  Pen             2.779          1.234          1.168          0              270            0              42
  11  Pencil          -2.530         0.685          -3.072         0              90             0              37
  12  TeddyBear       -0.667         0.612          -1.364         0              81.467         0              22
  13  Laptop          -2.157         0.617          -2.261         0              0              0              22
  14  AlarmClock      -2.530         0.684          -3.227         0              90             0              37
  15  CellPhone       2.188          0.307          -0.073         0              0              0              30
  16  KeyChain        2.039          0.896          -3.182         0              0              0              35
  17  Pillow          -1.025         0.680          -2.261         0              0              0              22
  18  Pillow          2.262          0.418          -0.296         0              0              0              30
  19  CD              -2.452         0.082          -2.978         0              270            0              38
  20  Mug             2.728          0.894          -3.044         0              0              0              35
  21  Bowl            2.211          0.898          -3.044         0              0              0              35
  22  Bed             -1.613         -0.028         -1.861         0              270            0
  23  DeskLamp        2.760          0.890          -3.317         0              90             0
  24  DeskLamp        -2.459         0.668          -0.532         0              90             0
  25  LightSwitch     -0.700         1.016          0.334          0              90             0
  26  GarbageCan      1.343          1.087          -3.374         0              0              0
  27  Mirror          0.532          1.419          2.0            0              0              0
  28  Window          -0.834         1.394          -3.653         90             0              0
  29  Window          2.958          1.508          -1.019         90             270            0
  30  Sofa            2.383          0.008          -0.288         0              270            0
  31  Safe            2.721          1.228          1.784          0              270            0
  32  Drawer          1.979          0.486          -2.988         0              0              0
  33  Drawer          1.979          0.728          -2.988         0              0              0
  34  Drawer          1.979          0.208          -2.988         0              0              0
  35  Desk            2.318          -0.009         -3.214         0              0              0
  36  Drawer          -2.349         0.163          -3.150         0              90             0
  37  SideTable       -2.416         -0.001         -3.149         0              90             0
  38  Drawer          -2.349         0.455          -3.150         0              90             0
  39  Drawer          2.641          0.172          1.511          0              270            0
  40  Drawer          2.641          1.002          1.511          0              270            0
  41  Drawer          2.641          0.448          1.511          0              270            0
  42  Dresser         2.676          0.002          1.511          0              270            0
  43  Drawer          2.641          0.725          1.511          0              270            0
  44  SideTable       -2.416         -0.001         -0.514         0              90             0
  45  Drawer          -2.349         0.163          -0.514         0              90             0
  46  Drawer          -2.349         0.455          -0.514         0              90             0
  47  Blinds          -0.800         2.087          -3.627         0              0              0
  48  Blinds          2.931          2.166          -1.0           0              270            0
  49  Chair           2.574          0.002          -2.881         0              175.162        0
  50  NorthWall
  51  EastWall
  52  SouthWall
  53  WestWall

Plan:
STEP 1: Turn right and go just past the bed then turn left then right and head to the desk | STEP 2: Pick up the keys from the desk | STEP 3: Turn right, then turn right and go past the sofa, then turn right and go to the tall dresser | STEP 4: Put the keys in the safe that is on the dresser | END