Task: Move keys to the side table

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -2.75          0.937          -1.25          0              270            0
   1  Pencil          1.607          0.557          2.540          0              0              0              54
   2  Pencil          -0.893         0.587          -3.038         0              0              0              30
   3  CreditCard      -0.632         0.584          -2.986         0              0              0              29
   4  CreditCard      1.755          0.552          2.181          0              0              0              54
   5  Book            -0.365         0.582          -2.882         0              0              0              29
   6  KeyChain        -1.071         0.583          -3.038         0              90             0              30
   7  KeyChain        -0.187         0.083          -2.726         0              270            0              33
   8  KeyChain        -2.412         0.307          3.593          0              180            0              47
   9  RemoteControl   -2.010         0.193          3.413          0              180            0              47
  10  AlarmClock      -1.539         1.118          -2.902         0              0              0              34
  11  Pillow          0.958          0.940          1.456          0              0              0              27
  12  Laptop          1.528          0.830          1.456          0              0              0              27
  13  Book            0.673          0.832          0.495          0              0              0              27
  14  AlarmClock      -1.227         1.118          -2.902         0              0              0              34
  15  CellPhone       1.813          0.836          0.975          0              0              0              27
  16  Pillow          0.673          0.940          0.975          0              0              0              27
  17  Pillow          1.528          0.940          0.735          0              0              0              27
  18  TeddyBear       1.868          0.036          -0.561         0              59.999         0              Floor|-00.06|
  19  CreditCard      -0.098         0.584          -3.038         0              0              0              29
  20  KeyChain        1.828          0.095          -2.945         0              90             0              52
  21  Pencil          -0.289         1.119          -3.243         0              0              0              34
  22  Laptop          -1.901         1.104          -2.965         0              0              0              34
  23  RemoteControl   1.657          0.556          2.324          0              0              0              54
  24  CD              -0.982         0.082          -2.778         0              0              0              32
  25  Pen             1.755          0.552          2.468          0              180            0              54
  26  Mug             -0.602         1.114          -2.817         0              0              0              34
  27  Bed             0.967          0.049          0.667          0              90             0
  28  Cabinet         -3.0           1.497          -2.643         0              0              0
  29  Drawer          -0.365         0.785          -2.848         0              0              0
  30  Drawer          -1.159         0.785          -2.848         0              0              0
  31  Cabinet         2.064          1.497          -2.643         0              0              0
  32  Drawer          -1.159         0.285          -2.848         0              0              0
  33  Drawer          -0.365         0.285          -2.848         0              0              0
  34  Desk            -1.271         1.169          -2.987         0              0              0
  35  LightSwitch     -0.159         1.281          3.999          0              180            0
  36  GarbageCan      -3.338         0.022          -2.797         0              4.809          0
  37  HousePlant      -0.195         1.105          -3.084         0              0              0
  38  DeskLamp        1.863          0.581          2.431          0              0              0
  39  Mirror          -1.603         1.447          3.999          0              0              0
  40  Television      -3.883         1.771          2.122          0              90             0
  41  Window          -1.952         2.148          -3.302         90             180            0
  42  Window          -0.467         2.148          -3.302         90             180            0
  43  Window          -3.894         1.751          0.582          90             270            0
  44  Window          -3.894         1.751          -0.675         90             270            0
  45  LaundryHamper   1.831          0.058          3.689          0              354.434        1.354
  46  ArmChair        -0.948         0.051          3.583          0              175.988        0
  47  ArmChair        -2.172         0.051          3.598          0              180            0
  48  Blinds          -0.477         2.785          -3.253         0              0              0
  49  Blinds          -1.957         2.785          -3.253         0              0              0
  50  Blinds          -3.799         2.506          0.602          0              90             0
  51  Blinds          -3.799         2.506          -0.647         0              90             0
  52  Safe            1.673          0.054          -3.004         0              0              0
  53  ArmChair        -3.349         0.051          3.375          0              150.096        0
  54  SideTable       1.775          0.048          2.377          0              0              0
  55  Chair           -2.002         0.050          -2.532         0              165.000        0
  56  NorthWall
  57  EastWall
  58  SouthWall
  59  WestWall

Plan:
STEP 1: Move to the back of the room to the middle black chair | STEP 2: Pick up the keys on top of the chair | STEP 3: Carry the keys over to the round side table with the lamp on top of it | STEP 4: Place the keys on top of the table on the edge by the pencil | END