Task: Place keys on the desk table.

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 left to face the bad, walk to the bed, when you reach the bed, turn left to the desk, walk straight, turn right and walk to the wall, turn left to face the desk and look up. | STEP 2: Pick up the keys on the desk shelf. | STEP 3: Look down, turn right to face the wall, walk straight and turn left to face the desk and look down. | STEP 4: Place the keys on the desk table. | END