Task: Take the keys from the shelf, put them on the desk

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           1.5            0.906          -0.75          0              90             0
   1  Bowl            -0.792         0.982          -1.606         0              0              0              45
   2  Mug             -0.387         0.979          -1.687         0              90             0              45
   3  Statue          -0.590         0.988          -1.443         0              0              0              45
   4  KeyChain        -1.572         1.536          -1.632         0              0              0              47
   5  KeyChain        -1.674         0.739          -1.480         0              90             0              44
   6  CD              -0.995         0.981          -1.200         0              0              0              45
   7  CD              -0.995         0.981          -1.687         0              0              0              45
   8  CellPhone       -0.842         2.053          0.868          0              0              0              39
   9  Pen             -0.792         0.987          -1.443         0              0              0              45
  10  Pencil          -1.413         0.101          -1.345         0              0              0              43
  11  CreditCard      -1.198         0.981          -1.524         0              0              0              45
  12  Book            -1.198         0.983          -1.281         0              0              0              45
  13  Book            -0.621         1.537          -1.593         0              0              0              47
  14  Pillow          -1.163         0.952          1.746          0              0              0              39
  15  Laptop          -1.571         0.894          1.160          0              0              0              39
  16  Laptop          -1.571         0.894          1.746          0              0              0              39
  17  AlarmClock      -1.603         0.982          -1.606         0              0              0              45
  18  Book            -0.907         2.053          1.160          0              0              0              39
  19  Box             1.563          0.286          -1.069         0              347.500        0
  20  BasketBall      -1.657         0.126          -0.090         0              0              0
  21  Pen             -1.001         1.542          -1.553         0              0              0              47
  22  Pencil          -1.400         0.984          -1.362         0              0              0              45
  23  Laptop          -1.571         0.894          2.332          0              0              0              39
  24  Pillow          -1.280         0.917          0.478          0              0              0              39
  25  KeyChain        -0.811         1.536          -1.671         0              0              0              47
  26  Bowl            -1.400         0.982          -1.524         0              0              0              45
  27  CreditCard      -0.387         0.982          -1.524         0              0              0              45
  28  CellPhone       -0.940         2.053          2.332          0              0              0              39
  29  CD              -1.603         0.981          -1.362         0              0              0              45
  30  AlarmClock      -0.995         0.982          -1.362         0              0              0              45
  31  Mug             -0.995         0.979          -1.524         0              0              0              45
  32  Statue          -1.503         1.528          -1.590         0              0              0              47
  33  Mirror          1.907          1.387          0.973          0              90             0
  34  LaundryHamper   -0.351         0.007          2.368          0              164.999        0
  35  DeskLamp        -0.343         1.545          -1.564         0              0              0
  36  GarbageCan      -0.035         0.007          -1.530         0              270            0
  37  Window          1.009          1.514          -2.089         90             0              0
  38  LightSwitch     0.397          1.197          2.729          0              180            0
  39  Bed             -1.299         1.937          1.441          0              0              0
  40  Blinds          1.064          2.382          -2.094         0              0              0
  41  Chair           0.884          0.012          -1.433         0              29.871         0
  42  Chair           -0.646         0.007          -1.206         0              195.000        0
  43  Drawer          -1.409         0.233          -1.303         0              0              0
  44  Drawer          -1.407         0.847          -1.302         0              0              0
  45  Desk            -0.993         0.006          -1.410         0              0              0
  46  Drawer          -1.408         0.558          -1.302         0              0              0
  47  Shelf           0.003          0.013          0.035          0              0              0
  48  NorthWall
  49  EastWall
  50  SouthWall
  51  WestWall

Plan:
STEP 1: Turn around, head to the desk | STEP 2: Take the keys from the top shelf of the desk | STEP 3: Take a couple steps to the right, face the desk | STEP 4: Put the keys on the desk | END