Task: Place a set of keys on a desk

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          -1.5           0              270            0
   1  CD              1.615          0.082          -1.045         0              90             0              32
   2  CD              0.101          0.143          -2.234         0              90             0              28
   3  CellPhone       -0.967         1.349          -2.025         0              0              0              41
   4  CellPhone       1.626          0.682          -0.833         0              270            0              33
   5  Pencil          1.639          0.377          -0.988         0              180            0              31
   6  KeyChain        1.581          0.681          -1.142         0              90             0              33
   7  Book            -0.244         0.839          -2.077         0              0              0              38
   8  Book            -0.705         1.778          -2.221         0              0              0              38
   9  Pillow          1.720          0.739          0.059          0              0              0              25
  10  Book            2.004          0.646          0.418          0              0              0              25
  11  Box             -0.424         2.065          -2.027         0              352.503        0              38
  12  Pillow          0.868          0.739          0.418          0              0              0              25
  13  AlarmClock      -1.396         1.777          -2.281         0              0              0              38
  14  BasketBall      -0.337         0.120          1.031          0              0              0              Floor|-00.16|
  15  BaseballBat     -1.602         0.022          0.356          90             8.736          0              Floor|-00.16|
  16  Pen             -0.935         1.783          -2.281         0              0              0              38
  17  CellPhone       1.717          0.682          -1.065         0              270            0              33
  18  TennisRacket    -1.667         0.0            0.818          90             29.999         0              Floor|-00.16|
  19  Laptop          0.300          0.643          0.777          0              0              0              25
  20  Pencil          -0.934         1.350          -2.123         0              0              0              41
  21  KeyChain        -1.000         1.347          -2.271         0              90             0              41
  22  CreditCard      -0.935         1.777          -1.981         0              0              0              38
  23  CD              -0.257         1.348          -2.133         0              0              0              36
  24  Mirror          0.883          1.582          -2.399         0              180            0
  25  Bed             1.176          -0.002         0.238          0              90             0
  26  LightSwitch     1.899          1.297          -1.302         0              270            0
  27  Poster          -1.927         1.411          -1.455         90             90             0
  28  GarbageCan      0.128          -0.030         -2.146         0              90             0
  29  Window          -2.028         1.388          -0.270         90             270            0
  30  DeskLamp        -1.673         1.774          -2.190         0              0              0
  31  Drawer          1.624          0.453          -0.987         0              270            0
  32  Drawer          1.624          0.163          -0.987         0              270            0
  33  SideTable       1.691          0.002          -0.988         0              270            0
  34  Chair           -1.089         0.009          -1.570         0              166.824        0
  35  Blinds          -1.949         2.158          -0.252         0              90             0
  36  Cabinet         -0.241         1.534          -2.101         0              0              0
  37  Cabinet         -1.301         1.534          -2.101         0              0              0
  38  Desk            -0.962         0.003          -1.942         0              0              0
  39  Cabinet         -1.683         1.534          -2.101         0              0              0
  40  Cabinet         -0.623         1.534          -2.101         0              0              0
  41  Shelf           -0.962         1.534          -2.101         0              0              0
  42  NorthWall
  43  EastWall
  44  SouthWall
  45  WestWall

Plan:
STEP 1: turn to the right and take a step and turn to the right and go to the nightstand | STEP 2: pick up the set of keys from the nightstand | STEP 3: turn to the right and go to the wall and turn to the right and go to the desk | STEP 4: put the set of keys on the desk | END