Task: To move some keys from the top shelf to the bottom shelf of a desk.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.0           0.906          -0.5           0              180            0
   1  Bowl            -0.792         0.982          -1.524         0              0              0              36
   2  Mug             -0.387         0.980          -1.443         0              0              0              36
   3  KeyChain        -1.572         1.536          -1.514         0              0              0              38
   4  CD              -1.151         0.738          -1.255         0              0              0              35
   5  CellPhone       -1.238         0.099          -1.300         0              0              0              34
   6  Pen             -1.587         0.744          -1.390         0              0              0              35
   7  Laptop          -1.163         0.894          2.039          0              0              0              30
   8  AlarmClock      -0.387         0.982          -1.200         0              0              0              36
   9  Book            -0.940         2.053          1.453          0              0              0              30
  10  Box             1.563          0.286          -1.069         0              347.500        0
  11  BasketBall      -1.657         0.126          -0.090         0              0              0
  12  Pen             -1.001         1.542          -1.514         0              0              0              38
  13  Pencil          -0.013         0.093          -1.608         0              270            0              27
  14  Laptop          -1.400         0.980          -1.443         0              0              0              36
  15  Pillow          -1.571         0.952          2.039          0              0              0              30
  16  KeyChain        -0.811         1.536          -1.475         0              180            0              38
  17  Bowl            -0.590         0.982          -1.524         0              0              0              36
  18  CreditCard      -1.500         0.098          -1.390         0              0              0              34
  19  CellPhone       -0.995         0.982          -1.524         0              0              0              36
  20  CD              -0.621         1.536          -1.593         0              0              0              38
  21  AlarmClock      -1.400         0.982          -1.200         0              0              0              36
  22  Mug             -0.792         0.980          -1.200         0              0              0              36
  23  Statue          -1.191         1.543          -1.632         0              0              0              38
  24  Mirror          1.907          1.387          0.973          0              90             0
  25  LaundryHamper   -0.351         0.007          2.368          0              164.999        0
  26  DeskLamp        -0.343         1.545          -1.564         0              0              0
  27  GarbageCan      -0.035         0.007          -1.530         0              270            0
  28  Window          1.009          1.514          -2.089         90             0              0
  29  LightSwitch     0.397          1.197          2.729          0              180            0
  30  Bed             -1.299         1.937          1.441          0              0              0
  31  Blinds          1.064          2.382          -2.094         0              0              0
  32  Chair           0.884          0.012          -1.433         0              29.871         0
  33  Chair           -0.646         0.007          -1.206         0              195.000        0
  34  Drawer          -1.409         0.233          -1.303         0              0              0
  35  Drawer          -1.407         0.847          -1.302         0              0              0
  36  Desk            -0.993         0.006          -1.410         0              0              0
  37  Drawer          -1.408         0.558          -1.302         0              0              0
  38  Shelf           0.003          0.013          0.035          0              0              0
  39  NorthWall
  40  EastWall
  41  SouthWall
  42  WestWall

Plan:
STEP 1: Step to the right and look up to face the top shelf. | STEP 2: Pick up the keys on the top shelf. | STEP 3: Look down to face the surface of the desk. | STEP 4: Place the keys on the desk to the left of the clock. | END