Task: Put the keys 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           0.25           0.901          2.75           0              270            0
   1  Mug             -0.423         0.675          1.804          0              90             0              32
   2  CD              -0.672         0.065          2.307          0              0              0              31
   3  CD              -0.600         0.065          2.091          0              0              0              31
   4  KeyChain        -0.692         0.677          2.364          0              90             0              32
   5  KeyChain        -0.782         0.677          1.618          0              180            0              32
   6  KeyChain        1.756          0.438          1.883          0              180            0              59
   7  Book            -0.513         0.681          2.177          0              90             0              32
   8  Book            -0.745         0.069          2.235          0              0              0              31
   9  AlarmClock      -0.584         0.979          -1.416         0              0              0              47
  10  Book            -0.855         0.672          3.075          0              90             0              42
  11  Box             -0.493         0.2            -0.286         0              84.024         0
  12  TennisRacket    -1.345         0.288          0.233          30.000         270            180
  13  Pen             1.612          0.732          -0.010         0              270            0              56
  14  AlarmClock      -0.423         0.678          1.245          0              90             0              32
  15  Pillow          -0.632         1.922          2.197          0              0              0              51
  16  Pillow          -0.596         1.585          -0.942         0              0              0              46
  17  CellPhone       1.715          0.108          -0.454         0              90             0              53
  18  KeyChain        1.756          0.437          1.326          0              180            0              59
  19  CreditCard      1.555          0.522          -0.454         0              90             0              55
  20  CD              -0.626         0.978          -1.040         0              0              0              47
  21  Pencil          -0.961         0.681          2.177          0              90             0              32
  22  Laptop          1.672          0.449          1.605          0              180            0              59
  23  Mug             -0.603         0.675          1.804          0              90             0              32
  24  DeskLamp        2.016          0.701          0.708          0              0              0
  25  Painting        2.199          1.771          -0.101         90             270            0
  26  GarbageCan      2.022          -0.037         -1.239         0              270            0
  27  Mirror          2.229          1.254          2.664          0              90             0
  28  LightSwitch     2.199          1.258          1.988          0              270            0
  29  Window          1.575          1.559          -1.953         90             180            0
  30  Drawer          -0.551         0.578          2.246          0              90             0
  31  Cabinet         -0.649         0.270          2.247          0              90             0
  32  Desk            -0.655         0.006          1.814          0              90             0
  33  Shelf           1.769          0.184          0.757          0              270            0
  34  Shelf           1.769          0.572          0.757          0              270            0
  35  Shelf           1.769          0.572          0.935          0              270            0
  36  Shelf           1.769          0.378          0.935          0              270            0
  37  Shelf           1.769          0.378          0.757          0              270            0
  38  Shelf           1.769          0.184          0.935          0              270            0
  39  Blinds          1.547          2.434          -1.886         0              0              0
  40  Drawer          -0.553         0.155          2.942          0              90             0
  41  Drawer          -0.553         0.572          2.942          0              90             0
  42  Dresser         -0.665         0.001          2.939          0              90             0
  43  Drawer          -0.553         0.376          2.942          0              90             0
  44  Chair           1.482          0.012          0.223          0              77.085         0
  45  Chair           -0.199         0.012          1.538          0              287.086        0
  46  Bed             -0.866         0.007          -0.919         0              0              0
  47  Dresser         -0.772         0.001          -1.313         0              90             0
  48  Drawer          -0.660         0.830          -1.309         0              90             0
  49  Drawer          -0.660         0.225          -1.309         0              90             0
  50  Drawer          -0.660         0.547          -1.309         0              90             0
  51  Bed             -0.872         1.637          2.188          0              0              0
  52  Drawer          1.685          0.160          -0.805         0              270            0
  53  Drawer          1.685          0.160          -0.378         0              270            0
  54  Drawer          1.685          0.547          -0.805         0              270            0
  55  Drawer          1.685          0.547          -0.378         0              270            0
  56  Desk            1.812          0.003          -0.014         0              270            0
  57  Drawer          1.685          0.354          -0.805         0              270            0
  58  Drawer          1.685          0.354          -0.378         0              270            0
  59  ArmChair        1.712          -0.000         1.532          0              270            0
  60  NorthWall
  61  EastWall
  62  SouthWall
  63  WestWall

Plan:
STEP 1: Walk a few feet left then turn right to face the desk | STEP 2: Pick up the keys by the green book from the desk | STEP 3: Turn right and walk back to the far right side of the desk | STEP 4: Put the keys down on the desk | STEP 5: Turn around and walk over to the floral print arm chair | STEP 6: Pick up the keys from the chair | STEP 7: Turn around and walk back to the far right side of the desk | STEP 8: Put the keys on the desk just to the right of the other keys | END