Task: Move the keys from the top of the cabinet to a lower shelf

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  TissueBox       0.987          0.703          -1.521         0              180            0              51
   2  TissueBox       0.494          0.705          -1.619         0              180            0              51
   3  CD              1.510          1.411          0.264          0              270            0              43
   4  CD              -0.576         0.046          0.773          0              0              0              36
   5  CellPhone       -0.028         0.293          -1.372         0              180            0              50
   6  CellPhone       -1.336         0.530          0.648          0              0              0              34
   7  Pencil          0.494          0.705          -1.423         0              180            0              51
   8  Pencil          1.480          0.492          -0.464         0              270            0              44
   9  CreditCard      0.110          0.081          -1.639         0              180            0              47
  10  CreditCard      0.341          0.081          -1.372         0              180            0              47
  11  Book            1.600          0.708          -0.465         0              0              0              43
  12  KeyChain        0.987          0.702          -1.716         0              180            0              51
  13  KeyChain        1.676          0.709          -0.703         0              0              0              43
  14  KeyChain        0.387          0.290          -1.425         0              180            0              49
  15  Pillow          -1.630         0.598          0.404          0              0              0              34
  16  AlarmClock      1.486          0.709          -0.703         0              0              0              43
  17  Box             1.537          1.652          0.692          0              0              0              37
  18  Book            0.387          0.497          -1.532         0              180            0              52
  19  AlarmClock      1.600          0.709          -0.306         0              0              0              43
  20  CellPhone       0.064          0.293          -1.585         0              180            0              49
  21  TissueBox       1.233          0.703          -1.423         0              180            0              51
  22  TeddyBear       -2.204         0.500          0.181          355.000        297.467        9.162          34
  23  CreditCard      1.486          0.708          -0.226         0              0              0              43
  24  KeyChain        0.002          0.702          -1.716         0              180            0              51
  25  BaseballBat     -2.202         0.04           -1.343         0              45             90             Floor|+00.00|
  26  TennisRacket    -2.254         0.324          -1.806         15.000         180            180            Floor|+00.00|
  27  Pillow          -1.483         0.598          -0.082         0              0              0              34
  28  Laptop          -1.923         0.525          -0.570         0              0              0              34
  29  CD              0.741          0.701          -1.423         0              180            0              51
  30  Pen             0.341          0.295          -1.425         0              180            0              49
  31  Pencil          1.233          0.707          -1.619         0              180            0              51
  32  Mug             1.603          0.486          -0.324         0              0              0              43
  33  Mirror          -0.689         1.495          0.954          0              0              0
  34  Bed             -1.742         0.000          -0.071         0              0              0
  35  Chair           0.891          -0.001         -1.251         0              175.104        0
  36  GarbageCan      -0.606         -0.021         0.799          0              0              0
  37  ShelvingUnit    1.550          1.402          0.374          0              270            0
  38  Painting        -2.401         1.700          -0.859         90             90             0
  39  DeskLamp        1.291          0.699          -1.717         0              0              0
  40  LightSwitch     0.231          1.287          0.954          0              180            0
  41  HousePlant      1.488          1.394          0.035          0              122.291        0
  42  Window          0.046          1.559          -2.079         90             180            0
  43  SideTable       1.561          0.000          -0.465         0              270            0
  44  Shelf           1.541          0.493          -0.475         0              270            0
  45  Blinds          0.007          2.152          -2.014         0              0              0
  46  Drawer          -0.156         0.547          -1.430         0              0              0
  47  Drawer          0.270          0.159          -1.430         0              0              0
  48  Drawer          -0.156         0.159          -1.430         0              0              0
  49  Drawer          0.270          0.353          -1.430         0              0              0
  50  Drawer          -0.156         0.353          -1.430         0              0              0
  51  Desk            0.634          0.002          -1.557         0              0              0
  52  Drawer          0.270          0.547          -1.430         0              0              0
  53  Shelf           1.406          0.571          -1.514         0              0              0
  54  Shelf           1.406          0.183          -1.514         0              0              0
  55  Shelf           1.584          0.183          -1.514         0              0              0
  56  Shelf           1.406          0.377          -1.514         0              0              0
  57  Shelf           1.584          0.377          -1.514         0              0              0
  58  Shelf           1.584          0.571          -1.514         0              0              0
  59  NorthWall
  60  EastWall
  61  SouthWall
  62  WestWall

Plan:
STEP 1: Turn left and go to the cabinet to the right of the bookshelf | STEP 2: Pick up the keys on the top right of the cabinet | STEP 3: Move to the left edge of the cabinet | STEP 4: Place the keys on the lower shelf to the left of the pencils | END