Task: Move keys from top of desk to below

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.25          0.909          -1.5           0              0              0
   1  CellPhone       -3.191         0.620          -1.793         0              0              0              24
   2  CellPhone       -3.613         0.979          -3.673         0              0              0              42
   3  Pen             -0.453         0.809          -4.137         0              0              0              39
   4  Pencil          -3.834         0.984          -4.075         0              0              0              42
   5  Pencil          -3.760         0.983          -3.874         0              0              0              42
   6  KeyChain        -0.426         0.190          -3.779         0              0              0              34
   7  Book            -3.539         0.981          -3.070         0              0              0              42
   8  Book            -3.637         0.045          -3.883         0              0              0              47
   9  Pillow          -2.981         0.722          -2.080         0              0              0              24
  10  AlarmClock      -3.760         0.981          -3.472         0              0              0              42
  11  Book            -3.191         0.620          -1.506         0              0              0              24
  12  CellPhone       -3.582         0.419          -3.092         0              0              0              50
  13  Laptop          -1.169         0.796          -4.096         0              27.912         0              39
  14  CreditCard      -3.687         0.981          -4.276         0              0              0              42
  15  AlarmClock      -3.687         0.979          -4.276         0              0              0              42
  16  KeyChain        -0.657         0.800          -4.029         0              0              0              39
  17  TeddyBear       -2.567         0.575          -0.386         357.948        14.682         7.781          24
  18  BaseballBat     -1.155         0.033          -3.997         90             59.999         0              Floor|-01.88|
  19  Pencil          -0.657         0.803          -3.811         0              0              0              39
  20  Pillow          -3.335         0.681          -0.415         0              0              0              24
  21  CD              -1.827         0.062          -3.905         0              279.990        0              28
  22  Pen             -3.582         0.424          -3.185         0              0              0              50
  23  Mug             -3.539         0.977          -3.472         0              0              0              42
  24  Bed             -2.980         0.009          -1.177         0              0              0
  25  LightSwitch     -1.620         1.351          0.0            0              180            0
  26  DeskLamp        -1.529         0.790          -4.298         0              0              0
  27  Mirror          -0.002         1.251          -2.592         0              90             0
  28  GarbageCan      -1.843         -0.017         -3.897         0              279.992        0
  29  Window          0.209          1.180          -1.504         90             270            0
  30  Drawer          -0.503         0.067          -4.188         0              180            0
  31  Drawer          -0.502         0.226          -3.799         0              0              0
  32  Drawer          -0.502         0.385          -3.799         0              0              0
  33  CoffeeTable     -0.503         0.009          -3.990         0              0              0
  34  Drawer          -0.502         0.067          -3.799         0              0              0
  35  Blinds          0.163          2.196          -1.495         0              270            0
  36  TableTopDecor   -3.586         0.996          -3.055         0              180            0
  37  Drawer          -0.503         0.385          -4.188         0              180            0
  38  Drawer          -0.503         0.226          -4.188         0              180            0
  39  Desk            -0.862         0.006          -4.028         0              0              0
  40  Drawer          -3.609         0.876          -4.055         0              90             0
  41  Drawer          -3.608         0.112          -3.261         0              90             0
  42  Dresser         -3.653         0.008          -3.658         0              90             0
  43  Drawer          -3.609         0.688          -3.261         0              90             0
  44  Drawer          -3.609         0.300          -3.261         0              90             0
  45  Drawer          -3.609         0.494          -4.055         0              90             0
  46  Drawer          -3.609         0.300          -4.055         0              90             0
  47  Drawer          -3.608         0.112          -4.055         0              90             0
  48  Drawer          -3.609         0.688          -4.055         0              90             0
  49  Drawer          -3.609         0.876          -3.261         0              90             0
  50  Drawer          -3.609         0.494          -3.261         0              90             0
  51  NorthWall
  52  EastWall
  53  SouthWall
  54  WestWall

Plan:
STEP 1: Turn around, walk to desk | STEP 2: Pick up keys off of desk | STEP 3: Turn around twice and end up facing the desk | STEP 4: Put keys on top of drawers under the desk | END