Task: Place a set of keys on the desk from the top shelf of 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           1.25           0.906          0.25           0              0              0
   1  Mug             -0.995         0.979          -1.281         0              0              0              34
   2  CellPhone       -1.571         0.896          1.746          0              0              0              28
   3  Pen             -1.326         0.744          -1.390         0              0              0              33
   4  Pencil          -1.587         0.425          -1.345         0              0              0              35
   5  Book            -0.940         2.053          2.039          0              0              0              28
   6  Pillow          -1.571         0.952          1.453          0              0              0              28
   7  Book            -1.400         0.982          -1.606         0              0              0              34
   8  Box             1.563          0.286          -1.069         0              347.500        0
   9  BasketBall      -1.657         0.126          -0.090         0              0              0
  10  Pen             -1.603         0.987          -1.606         0              0              0              34
  11  Pencil          -1.326         0.425          -1.435         0              0              0              35
  12  Laptop          -1.026         0.894          2.332          0              0              0              28
  13  Pillow          -1.026         0.952          1.160          0              0              0              28
  14  KeyChain        -0.811         1.536          -1.710         0              90             0              36
  15  Bowl            -1.183         1.528          -1.590         0              0              0              36
  16  CreditCard      -1.400         0.982          -1.281         0              0              0              34
  17  CellPhone       -1.603         0.983          -1.524         0              0              0              34
  18  CD              -1.198         0.981          -1.524         0              0              0              34
  19  AlarmClock      -1.382         1.537          -1.553         0              90             0              36
  20  Mug             -1.400         0.979          -1.443         0              90             0              34
  21  Statue          -1.503         1.528          -1.590         0              0              0              36
  22  Mirror          1.907          1.387          0.973          0              90             0
  23  LaundryHamper   -0.351         0.007          2.368          0              164.999        0
  24  DeskLamp        -0.343         1.545          -1.564         0              0              0
  25  GarbageCan      -0.035         0.007          -1.530         0              270            0
  26  Window          1.009          1.514          -2.089         90             0              0
  27  LightSwitch     0.397          1.197          2.729          0              180            0
  28  Bed             -1.299         1.937          1.441          0              0              0
  29  Blinds          1.064          2.382          -2.094         0              0              0
  30  Chair           0.884          0.012          -1.433         0              29.871         0
  31  Chair           -0.646         0.007          -1.206         0              195.000        0
  32  Drawer          -1.409         0.233          -1.303         0              0              0
  33  Drawer          -1.407         0.847          -1.302         0              0              0
  34  Desk            -0.993         0.006          -1.410         0              0              0
  35  Drawer          -1.408         0.558          -1.302         0              0              0
  36  Shelf           0.003          0.013          0.035          0              0              0
  37  NorthWall
  38  EastWall
  39  SouthWall
  40  WestWall

Plan:
STEP 1: turn to the left and go forward to the bed and turn to the left and take a few steps and turn to the right and take a few steps and turn to the left and step to the desk | STEP 2: pick up the set of keys from the top shelf of the desk | STEP 3: turn to the right and take a step and turn to the left | STEP 4: put the set of keys on the desk | END