Task: take the keys from the desk cabinet and place 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           -0.5           0.900          -0.5           0              180            0
   1  CD              -0.935         0.837          -1.969         0              0              0              40
   2  CD              -1.656         1.345          -2.032         0              0              0              39
   3  CellPhone       -0.934         1.349          -2.222         0              0              0              43
   4  CellPhone       -1.165         1.779          -2.221         0              0              0              40
   5  Pencil          1.807          0.684          -0.755         0              270            0              35
   6  Pencil          1.581          0.684          -1.220         0              270            0              35
   7  CreditCard      1.592          0.374          -1.045         0              90             0              33
   8  KeyChain        1.671          0.681          -1.065         0              270            0              35
   9  KeyChain        -0.868         1.347          -2.074         0              0              0              43
  10  KeyChain        1.626          0.681          -0.755         0              0              0              35
  11  Laptop          1.152          0.643          0.418          0              0              0              27
  12  Book            0.300          0.646          -0.120         0              0              0              27
  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      -1.396         1.777          -2.041         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             -1.396         0.843          -1.969         0              0              0              40
  19  CellPhone       0.584          0.647          -0.120         0              0              0              27
  20  TennisRacket    -1.667         0.0            0.818          90             29.999         0              Floor|-00.16|
  21  Laptop          0.584          0.643          0.598          0              0              0              27
  22  Pencil          1.807          0.684          -0.987         0              270            0              35
  23  KeyChain        -1.033         1.347          -2.172         0              90             0              43
  24  CreditCard      -0.244         0.837          -2.185         0              0              0              40
  25  CD              1.615          0.082          -1.159         0              90             0              34
  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: go to the desk | STEP 2: take the keys from the right cabinet | STEP 3: walk around to the left side of the desk | STEP 4: set the keys on the desk | END