Task: put two sets of keys in to 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           -5.0           0.901          1.75           0              90             0
   1  TissueBox       -4.505         1.109          4.391          0              90             0              63
   2  TissueBox       -5.194         1.040          0.239          0              0              0              45
   3  Newspaper       -3.570         0.210          4.523          0              90             0              61
   4  CellPhone       -1.459         0.590          4.124          0              0              0              57
   5  Statue          -3.863         1.117          4.589          0              90             0              63
   6  Statue          -2.244         0.039          0.317          0              90             0              46
   7  Vase            -0.229         1.105          1.100          0              270            0              51
   8  Watch           -3.455         0.996          4.267          0              90             0              63
   9  Watch           -2.404         0.034          0.265          0              90             0              46
  10  KeyChain        -3.864         1.112          4.786          0              90             0              63
  11  KeyChain        -4.505         1.108          4.588          0              90             0              63
  12  KeyChain        -3.741         0.997          4.336          0              180            0              59
  13  CreditCard      -4.329         0.997          4.359          0              90             0              58
  14  RemoteControl   -1.960         0.592          4.211          0              0              0              57
  15  Box             -0.952         0.830          1.960          0              180            0              67
  16  Box             -4.184         1.329          4.687          0              90             0              63
  17  Pillow          -1.584         0.668          4.297          0              0              0              57
  18  Pillow          -0.952         0.700          2.753          0              0              0              67
  19  Box             -0.787         0.830          3.545          0              0              0              67
  20  Watch           -4.854         1.039          0.438          0              0              0              45
  21  Pillow          -2.031         0.668          4.421          0              0              0              57
  22  TissueBox       -0.324         1.593          0.823          0              270            0              50
  23  Newspaper       -0.273         1.597          1.189          0              270            0              54
  24  CreditCard      -4.826         1.111          4.490          0              90             0              63
  25  KeyChain        -0.787         0.609          3.017          0              90             0              67
  26  CellPhone       -1.035         0.609          3.281          0              0              0              67
  27  Statue          -1.369         1.107          0.228          0              0              0              49
  28  Laptop          -3.393         1.104          4.492          0              191.867        0              63
  29  RemoteControl   -5.534         1.041          0.438          0              0              0              45
  30  Vase            -4.876         0.207          4.395          0              90             0              66
  31  DeskLamp        -4.649         1.051          0.268          0              0              0
  32  DeskLamp        -2.992         1.107          4.522          0              0              0
  33  FloorLamp       -0.650         0.007          4.431          0              0              0
  34  FloorLamp       -5.607         0.007          4.641          0              0              0
  35  Shelf           -5.237         1.776          0.070          0              0              0
  36  Shelf           -5.238         1.968          0.085          0              0              0
  37  Shelf           -5.242         1.391          0.086          0              0              0
  38  Shelf           -5.241         1.582          0.065          0              0              0
  39  LightSwitch     -6.002         1.353          3.404          0              90             0
  40  GarbageCan      -5.794         -0.033         4.073          0              90             0
  41  Painting        -6.017         1.802          4.177          90             270            0
  42  HousePlant      -3.966         1.625          0.135          0              315            0
  43  Television      -3.355         0.833          0.027          0              0              0
  44  Drawer          -5.024         0.903          0.370          0              0              0
  45  SideTable       -5.024         0.008          0.267          0              0              0
  46  Safe            -2.298         5.778          0.268          0              90             0
  47  Shelf           -0.253         0.781          1.058          0              270            0
  48  Shelf           -0.283         0.274          1.066          0              270            0
  49  Shelf           -1.224         1.288          0.270          0              0              0
  50  Shelf           -1.218         1.810          0.275          0              0              0
  51  Shelf           -0.280         1.810          1.057          0              270            0
  52  Shelf           -1.218         0.274          0.262          0              0              0
  53  Shelf           -1.223         0.782          0.237          0              0              0
  54  Shelf           -0.280         1.288          1.055          0              270            0
  55  ShelvingUnit    -0.268         0.004          1.067          0              270            0
  56  ShelvingUnit    -1.218         0.004          0.244          0              0              0
  57  ArmChair        -2.027         0.001          4.422          0              178.692        0
  58  Drawer          -4.329         1.014          4.311          0              180            0
  59  Drawer          -3.750         1.014          4.311          0              180            0
  60  Cabinet         -4.049         0.561          4.212          0              180            0
  61  Cabinet         -4.032         0.561          4.212          0              180            0
  62  Cabinet         -2.884         0.561          4.212          0              180            0
  63  Dresser         -4.041         -0.000         4.589          0              180            0
  64  Drawer          -4.916         1.014          4.311          0              180            0
  65  Drawer          -3.166         1.014          4.311          0              180            0
  66  Cabinet         -5.196         0.561          4.212          0              180            0
  67  Sofa            -0.705         -0.002         2.753          0              270            0
  68  NorthWall
  69  SouthWall
  70  SouthWall

Plan:
STEP 1: turn to the left and move towards the brown chest of drawers | STEP 2: pick up the keys off of the chest of drawers that are behind the statue | STEP 3: turn to the right to the white sofa and turn right across the room to the white safe | STEP 4: open the door of the safe, put the keys in to the safe, close the door | STEP 5: turn around and move towards the blue chair, turning to the right to face the sofa on the right | STEP 6: pick up the keys that are on the sofa to the left of the striped cushion | STEP 7: turn to the right and move forward to the safe | STEP 8: open the safe, put the keys in to the safe and close the door | END