Task: pick up keys and put them on the chair

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.75           0.901          1.5            0              0              0
   1  Mug             -0.672         0.063          2.235          0              0              0              29
   2  Mug             -0.480         0.667          2.988          0              90             0              40
   3  CellPhone       -0.562         1.839          2.764          0              0              0              49
   4  Pencil          1.715          0.317          -0.731         0              90             0              55
   5  Pencil          2.100          0.730          -0.010         0              270            0              54
   6  CreditCard      1.555          0.314          -0.408         0              90             0              56
   7  AlarmClock      -0.668         0.979          -1.322         0              0              0              45
   8  Book            -0.855         0.672          2.988          0              90             0              40
   9  Box             -0.493         0.2            -0.286         0              84.024         0
  10  TennisRacket    -1.345         0.288          0.233          30.000         270            180
  11  Pen             -0.782         0.683          1.431          0              90             0              30
  12  AlarmClock      -0.513         0.678          1.618          0              90             0              30
  13  Pillow          -0.63          1.871          3.047          0              0              0              49
  14  Pillow          -1.137         1.585          -0.719         0              0              0              44
  15  CellPhone       1.502          0.434          1.326          0              180            0              57
  16  KeyChain        -0.667         0.669          2.728          0              90             0              40
  17  CreditCard      -0.513         0.677          1.431          0              90             0              30
  18  CD              -0.817         0.065          2.379          0              0              0              29
  19  Pencil          -0.637         0.068          3.126          0              0              0              38
  20  Laptop          -0.603         0.675          1.991          0              90             0              30
  21  Mug             -0.745         0.063          2.019          0              0              0              29
  22  DeskLamp        2.016          0.701          0.708          0              0              0
  23  Painting        2.199          1.771          -0.101         90             270            0
  24  GarbageCan      2.022          -0.037         -1.239         0              270            0
  25  Mirror          2.229          1.254          2.664          0              90             0
  26  LightSwitch     2.199          1.258          1.988          0              270            0
  27  Window          1.575          1.559          -1.953         90             180            0
  28  Drawer          -0.551         0.578          2.246          0              90             0
  29  Cabinet         -0.649         0.270          2.247          0              90             0
  30  Desk            -0.655         0.006          1.814          0              90             0
  31  Shelf           1.769          0.184          0.757          0              270            0
  32  Shelf           1.769          0.572          0.757          0              270            0
  33  Shelf           1.769          0.572          0.935          0              270            0
  34  Shelf           1.769          0.378          0.935          0              270            0
  35  Shelf           1.769          0.378          0.757          0              270            0
  36  Shelf           1.769          0.184          0.935          0              270            0
  37  Blinds          1.547          2.434          -1.886         0              0              0
  38  Drawer          -0.553         0.155          2.942          0              90             0
  39  Drawer          -0.553         0.572          2.942          0              90             0
  40  Dresser         -0.665         0.001          2.939          0              90             0
  41  Drawer          -0.553         0.376          2.942          0              90             0
  42  Chair           1.482          0.012          0.223          0              77.085         0
  43  Chair           -0.199         0.012          1.538          0              287.086        0
  44  Bed             -0.866         0.007          -0.919         0              0              0
  45  Dresser         -0.772         0.001          -1.313         0              90             0
  46  Drawer          -0.660         0.830          -1.309         0              90             0
  47  Drawer          -0.660         0.225          -1.309         0              90             0
  48  Drawer          -0.660         0.547          -1.309         0              90             0
  49  Bed             -0.872         1.637          2.188          0              0              0
  50  Drawer          1.685          0.160          -0.805         0              270            0
  51  Drawer          1.685          0.160          -0.378         0              270            0
  52  Drawer          1.685          0.547          -0.805         0              270            0
  53  Drawer          1.685          0.547          -0.378         0              270            0
  54  Desk            1.812          0.003          -0.014         0              270            0
  55  Drawer          1.685          0.354          -0.805         0              270            0
  56  Drawer          1.685          0.354          -0.378         0              270            0
  57  ArmChair        1.712          -0.000         1.532          0              270            0
  58  NorthWall
  59  EastWall
  60  SouthWall
  61  WestWall

Plan:
STEP 1: cross the room to the desk | STEP 2: pick the keys sitting on the desk up | STEP 3: turn around and go to the chair beside the door | STEP 4: place keys on the chair | END