Task: Take a set of keys to 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           0.900          -0.25          0              180            0
   1  CD              -1.626         0.837          -2.077         0              0              0              40
   2  CD              1.592          0.373          -0.930         0              90             0              33
   3  Pencil          -0.901         1.350          -2.074         0              0              0              43
   4  CreditCard      -0.934         1.347          -2.222         0              0              0              43
   5  KeyChain        1.626          0.681          -0.755         0              0              0              35
   6  Book            -0.935         1.778          -2.221         0              0              0              40
   7  Book            0.300          0.646          0.777          0              0              0              27
   8  Laptop          0.300          0.643          -0.299         0              0              0              27
   9  Laptop          1.152          0.643          0.598          0              0              0              27
  10  Pillow          0.584          0.739          0.418          0              0              0              27
  11  Pillow          1.720          0.739          -0.299         0              0              0              27
  12  Book            -1.165         0.839          -1.753         0              0              0              40
  13  Box             -0.424         2.065          -2.027         0              352.503        0              40
  14  Pillow          1.993          0.67           0.222          0              270            0              27
  15  AlarmClock      -1.165         0.837          -2.077         0              0              0              40
  16  BasketBall      -0.337         0.120          1.031          0              0              0              Floor|-00.16|
  17  BaseballBat     -1.602         0.022          0.356          90             8.736          0              Floor|-00.16|
  18  Pen             1.671          0.686          -1.065         0              270            0              35
  19  CellPhone       1.626          0.682          -1.142         0              270            0              35
  20  TennisRacket    -1.667         0.0            0.818          90             29.999         0              Floor|-00.16|
  21  Laptop          1.720          0.643          0.418          0              0              0              27
  22  Pencil          -1.626         0.841          -2.185         0              0              0              40
  23  KeyChain        1.807          0.681          -0.755         0              0              0              35
  24  CreditCard      -0.474         0.837          -2.293         0              0              0              40
  25  CD              -0.213         1.348          -2.235         0              0              0              38
  26  Mirror          0.883          1.582          -2.399         0              180            0
  27  Bed             1.176          -0.002         0.238          0              90             0
  28  LightSwitch     1.899          1.297          -1.302         0              270            0
  29  Poster          -1.927         1.411          -1.455         90             90             0
  30  GarbageCan      0.128          -0.030         -2.146         0              90             0
  31  Window          -2.028         1.388          -0.270         90             270            0
  32  DeskLamp        -1.673         1.774          -2.190         0              0              0
  33  Drawer          1.624          0.453          -0.987         0              270            0
  34  Drawer          1.624          0.163          -0.987         0              270            0
  35  SideTable       1.691          0.002          -0.988         0              270            0
  36  Chair           -1.089         0.009          -1.570         0              166.824        0
  37  Blinds          -1.949         2.158          -0.252         0              90             0
  38  Cabinet         -0.241         1.534          -2.101         0              0              0
  39  Cabinet         -1.301         1.534          -2.101         0              0              0
  40  Desk            -0.962         0.003          -1.942         0              0              0
  41  Cabinet         -1.683         1.534          -2.101         0              0              0
  42  Cabinet         -0.623         1.534          -2.101         0              0              0
  43  Shelf           -0.962         1.534          -2.101         0              0              0
  44  NorthWall
  45  EastWall
  46  SouthWall
  47  WestWall

Plan:
STEP 1: Walk towards the bedside table | STEP 2: Pick up the keys that are in the back from the table | STEP 3: Turn around and walk towards the desk | STEP 4: Place the keys on the desk | END