Task: Place a set of keys on a dresser

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.0            0.901          -0.25          0              0              0
   1  CD              -2.249         0.058          -1.754         0              77.664         0              25
   2  CellPhone       0.649          0.418          0.585          0              0              0              44
   3  Pen             0.201          0.976          -1.557         0              270            0              34
   4  Pen             -0.401         0.977          -1.852         0              270            0              34
   5  Pencil          2.252          0.573          1.185          0              180            0              32
   6  Pencil          -0.200         0.975          -1.705         0              270            0              34
   7  Laptop          1.145          0.413          -0.247         0              0              0              44
   8  Box             -1.751         0.252          1.499          0              340.773        0              Floor|+00.00|
   9  Book            1.640          0.417          -0.413         0              0              0              44
  10  Cloth           -1.146         0.000          -2.123         0              0              0              Floor|+00.00|
  11  CellPhone       0.120          0.413          -1.656         0              270            0              43
  12  Pencil          -0.602         0.975          -1.631         0              270            0              34
  13  AlarmClock      -0.200         0.972          -1.852         0              270            0              34
  14  TeddyBear       -2.236         0.000          1.457          0              319.128        0              Floor|+00.00|
  15  CreditCard      2.114          0.572          1.348          0              180            0              32
  16  KeyChain        2.068          0.573          1.240          0              180            0              32
  17  Pillow          0.649          0.477          0.086          0              0              0              44
  18  Pillow          2.15           0.433          -0.241         0              282.078        0              44
  19  Laptop          1.145          0.413          0.252          0              0              0              44
  20  Bowl            0.471          0.965          -1.856         0              0              0              34
  21  Cloth           -1.288         0.000          -1.936         0              357.341        356.936        Floor|+00.00|
  22  CD              0.583          0.605          -1.544         0              270            0              39
  23  Pen             0.604          0.977          -1.631         0              0              0              34
  24  DeskLamp        2.302          0.561          1.435          0              315            0
  25  GarbageCan      -2.208         -0.023         -1.742         0              77.663         0
  26  Poster          2.439          1.508          0.014          90             270            0
  27  LightSwitch     -2.457         1.274          -0.096         0              90             0
  28  Mirror          2.454          1.322          -1.414         0              90             0
  29  Window          -1.440         1.815          -2.354         90             0              0
  30  Window          1.401          1.815          -2.354         90             0              0
  31  Drawer          2.251          0.468          1.333          0              270            0
  32  SideTable       2.243          -0.001         1.331          0              270            0
  33  Drawer          -0.385         0.681          -1.631         0              0              0
  34  Dresser         0.011          0.001          -1.676         0              0              0
  35  Drawer          -0.385         0.105          -1.631         0              0              0
  36  Drawer          0.408          0.868          -1.632         0              0              0
  37  Drawer          -0.385         0.487          -1.631         0              0              0
  38  Drawer          -0.385         0.868          -1.632         0              0              0
  39  Drawer          0.408          0.681          -1.631         0              0              0
  40  Drawer          0.408          0.105          -1.631         0              0              0
  41  Drawer          0.408          0.292          -1.631         0              0              0
  42  Drawer          -0.385         0.292          -1.631         0              0              0
  43  Drawer          0.408          0.487          -1.631         0              0              0
  44  Bed             1.377          0.004          0.072          0              90             0
  45  Blinds          1.422          3.115          -2.339         0              0              0
  46  Blinds          -1.422         3.115          -2.339         0              0              0
  47  Safe            1.640          0.000          -2.040         0              355.244        0
  48  LaundryHamper   -1.564         0.001          -1.927         0              45             0
  49  NorthWall
  50  EastWall
  51  SouthWall
  52  WestWall

Plan:
STEP 1: Head forward past the bed then hang right and walk to the night stand to the left of the bed | STEP 2: Pick up the set of keys laying on the nightstand | STEP 3: Turn around and head across the room, take a left after passing the bed and head to the brown dresser across the room | STEP 4: Place the keys on the dresser to the left of the right pen.  | END