Task: Move a pen and keys to 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           0.5            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: Turn left, proceed to dresser closest to window.  Turn right to face dresser. | STEP 2: Pick up keys from behind pen on dresser. | STEP 3: Turn right, proceed to next dresser on left.  Turn left to face dresser. | STEP 4: Place keys on dresser, below the cd and the left of phone. | STEP 5: Turn around, proceed to wall.  Turn left to face chair. | STEP 6: Remove keys from under left side of pillow on chair. | STEP 7: Turn left, go to end of bed.  Turn left, go to center of first dresser.  Turn right to face. dresser. | STEP 8: Place keys on dresser, directly on cd behind the other set of keys. | END