Task: Put keys in a drawer.

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          -4.5           0              180            0
   1  Vase            1.807          0.881          0.882          0              0              0              43
   2  KeyChain        -0.575         0.426          1.053          0              90             0              38
   3  KeyChain        0.355          0.468          -0.874         0              225            0              37
   4  KeyChain        -2.025         0.760          1.064          0              90             0              30
   5  CreditCard      0.323          0.467          -0.562         0              225            0              37
   6  CreditCard      -2.250         0.756          0.764          0              90             0              30
   7  RemoteControl   1.688          0.879          1.093          0              0              0              43
   8  Laptop          -2.853         0.784          -4.057         0              270            0              36
   9  Box             -3.224         0.898          -3.392         0              180            0              36
  10  KeyChain        -2.476         0.760          0.614          0              90             0              30
  11  Laptop          -0.544         0.389          1.867          0              180            0              35
  12  Statue          -3.035         0.78           -3.752         0              0              0              36
  13  Pillow          1.036          0.581          -0.213         0              325.391        0              37
  14  RemoteControl   1.807          0.877          1.304          0              0              0              43
  15  Statue          -0.734         1.320          -2.723         0              0              0              20
  16  CreditCard      -2.100         0.756          0.464          0              90             0              30
  17  Vase            -3.471         0.787          -4.279         0              270            0              36
  18  Statue          -3.348         0.793          -2.948         0              270            0              36
  19  Shelf           -0.612         0.880          -2.832         0              0              0
  20  Shelf           -0.612         1.317          -2.832         0              0              0
  21  LightSwitch     -2.599         1.254          -0.774         0              90             0
  22  GarbageCan      -1.343         0.015          -4.825         0              0              0
  23  HousePlant      0.506          1.097          2.235          0              0              0
  24  Painting        -0.509         1.742          2.404          90             0              0
  25  FloorLamp       1.712          0.001          0.374          0              0              0
  26  Painting        -5.0           1.626          -3.548         90             270            0
  27  Television      -2.258         1.245          0.755          0              90             0
  28  Shelf           -2.238         0.474          0.396          0              90             0
  29  Shelf           -2.238         0.273          0.396          0              90             0
  30  TVStand         -2.244         -0.000         0.762          0              90             0
  31  Shelf           -2.238         0.302          1.130          0              90             0
  32  Shelf           -2.238         0.442          0.764          0              90             0
  33  Shelf           -2.238         0.597          1.130          0              90             0
  34  Shelf           -2.238         0.643          0.396          0              90             0
  35  ArmChair        -0.559         0.000          1.951          0              180            0
  36  DiningTable     -3.101         0.000          -3.613         0              270            0
  37  Sofa            0.880          0.007          -0.591         0              315            0
  38  Ottoman         -0.576         0.008          1.052          0              180            0
  39  Chair           -3.501         0.002          -3.716         0              90             0
  40  Chair           -3.182         0.002          -2.813         0              165.000        0
  41  Chair           -3.130         0.002          -4.418         0              345.001        0
  42  Chair           -2.686         0.002          -3.301         0              285.000        0
  43  SideTable       1.825          0.000          1.092          0              270            0
  44  Drawer          1.761          0.774          1.092          0              270            0
  45  NorthWall
  46  EastWall
  47  SouthWall
  48  WestWall

Plan:
STEP 1: Turn around and walk to the ottoman that's in front of you and stand facing it in the middle. | STEP 2: Pick up the keys that are in front of you. | STEP 3: Turn right and walk to the small black table against the wall. | STEP 4: Open the black table's drawer and put the keys in there then close it. | END