Task: Put two pairs of 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           0.75           0.901          -1.5           0              90             0
   1  Mug             -0.817         0.063          2.452          0              0              0              32
   2  Mug             -0.692         0.675          1.991          0              90             0              33
   3  CD              -0.423         0.677          2.177          0              90             0              33
   4  CD              -0.574         0.668          3.075          0              90             0              43
   5  CellPhone       1.417          0.434          1.605          0              180            0              60
   6  Pen             1.662          0.320          -0.362         0              90             0              59
   7  CreditCard      2.003          0.726          -0.502         0              270            0              57
   8  CreditCard      1.502          0.432          1.419          0              180            0              60
   9  KeyChain        1.672          0.435          1.883          0              0              0              60
  10  AlarmClock      -0.855         0.669          2.988          0              90             0              43
  11  Book            -0.562         1.841          1.348          0              0              0              52
  12  Box             -0.493         0.2            -0.286         0              84.024         0
  13  TennisRacket    -1.345         0.288          0.233          30.000         270            180
  14  Pen             1.515          0.732          0.728          0              270            0              57
  15  AlarmClock      -0.855         0.669          2.815          0              90             0              43
  16  Pillow          -0.63          1.871          3.047          0              0              0              52
  17  Pillow          -0.829         1.549          -1.533         0              0              0              47
  18  CellPhone       -0.668         0.980          -1.509         0              0              0              48
  19  KeyChain        1.841          0.433          1.512          0              180            0              60
  20  CreditCard      -0.480         0.669          3.249          0              90             0              43
  21  CD              -0.817         0.065          2.091          0              0              0              32
  22  Pencil          -0.872         0.681          1.991          0              90             0              33
  23  Laptop          -1.002         1.498          -0.719         0              0              0              47
  24  Mug             -0.672         0.063          2.379          0              0              0              32
  25  DeskLamp        2.016          0.701          0.708          0              0              0
  26  Painting        2.199          1.771          -0.101         90             270            0
  27  GarbageCan      2.022          -0.037         -1.239         0              270            0
  28  Mirror          2.229          1.254          2.664          0              90             0
  29  LightSwitch     2.199          1.258          1.988          0              270            0
  30  Window          1.575          1.559          -1.953         90             180            0
  31  Drawer          -0.551         0.578          2.246          0              90             0
  32  Cabinet         -0.649         0.270          2.247          0              90             0
  33  Desk            -0.655         0.006          1.814          0              90             0
  34  Shelf           1.769          0.184          0.757          0              270            0
  35  Shelf           1.769          0.572          0.757          0              270            0
  36  Shelf           1.769          0.572          0.935          0              270            0
  37  Shelf           1.769          0.378          0.935          0              270            0
  38  Shelf           1.769          0.378          0.757          0              270            0
  39  Shelf           1.769          0.184          0.935          0              270            0
  40  Blinds          1.547          2.434          -1.886         0              0              0
  41  Drawer          -0.553         0.155          2.942          0              90             0
  42  Drawer          -0.553         0.572          2.942          0              90             0
  43  Dresser         -0.665         0.001          2.939          0              90             0
  44  Drawer          -0.553         0.376          2.942          0              90             0
  45  Chair           1.482          0.012          0.223          0              77.085         0
  46  Chair           -0.199         0.012          1.538          0              287.086        0
  47  Bed             -0.866         0.007          -0.919         0              0              0
  48  Dresser         -0.772         0.001          -1.313         0              90             0
  49  Drawer          -0.660         0.830          -1.309         0              90             0
  50  Drawer          -0.660         0.225          -1.309         0              90             0
  51  Drawer          -0.660         0.547          -1.309         0              90             0
  52  Bed             -0.872         1.637          2.188          0              0              0
  53  Drawer          1.685          0.160          -0.805         0              270            0
  54  Drawer          1.685          0.160          -0.378         0              270            0
  55  Drawer          1.685          0.547          -0.805         0              270            0
  56  Drawer          1.685          0.547          -0.378         0              270            0
  57  Desk            1.812          0.003          -0.014         0              270            0
  58  Drawer          1.685          0.354          -0.805         0              270            0
  59  Drawer          1.685          0.354          -0.378         0              270            0
  60  ArmChair        1.712          -0.000         1.532          0              270            0
  61  NorthWall
  62  EastWall
  63  SouthWall
  64  WestWall

Plan:
STEP 1: Turn left and walk until your're even with a floral patterned armchair on your right then turn right to face it. | STEP 2: Pick up the keys that are on the cushion in front of you to the right of another set,. | STEP 3: Turn left and walk to the wall then turn left and walk to he desk. | STEP 4: Put the keys on the edge of the desk in front of you. | STEP 5: Turn around and walk to the door then turn right and walk to the chair. | STEP 6: Pick up the keys that are on the chair. | STEP 7: Go back to where you set the first set of keys. | STEP 8: Put these keys on the desk too. | END