Task: Pick up two set of keys from the top shelf of a desk and place them onto 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          1.0            0              270            0
   1  CD              1.679          0.711          0.022          0              270            0              44
   2  CD              1.687          0.049          1.642          0              270            0              28
   3  CellPhone       0.363          0.685          -1.663         0              0              0              33
   4  CellPhone       1.408          0.712          0.990          0              270            0              44
   5  Pencil          -1.575         0.290          1.381          0              270            0              39
   6  Pencil          1.228          0.715          0.409          0              270            0              44
   7  CreditCard      0.930          0.684          -1.747         0              0              0              33
   8  KeyChain        -1.783         1.071          1.067          0              270            0              40
   9  Book            -0.823         0.540          -0.549         0              0              0              25
  10  AlarmClock      -1.814         1.071          0.926          0              270            0              40
  11  Book            -1.787         0.065          1.448          0              270            0              38
  12  AlarmClock      1.589          0.711          0.602          0              270            0              44
  13  BasketBall      1.510          0.120          -0.105         0              0              0
  14  TeddyBear       -1.7           0.475          -0.331         0              225            0              25
  15  TennisRacket    1.551          0.000          0.654          270            336.082        0
  16  Pen             -1.840         0.071          1.648          0              270            0              38
  17  Pencil          1.408          0.715          0.796          0              270            0              44
  18  KeyChain        -1.936         1.071          1.351          0              270            0              40
  19  CreditCard      0.222          0.684          -1.789         0              0              0              33
  20  Laptop          -1.786         0.634          0.206          0              159.517        0              41
  21  CellPhone       -0.344         0.541          -0.830         0              0              0              25
  22  Pillow          -1.301         0.618          -0.690         0              0              0              25
  23  CD              -1.845         1.071          1.634          0              270            0              40
  24  Curtains        1.865          2.039          -0.495         0              0              0
  25  Bed             -1.037         0.009          -0.690         0              270            0
  26  Mirror          0.549          1.494          1.880          0              0              0
  27  Curtains        0.486          2.035          -1.853         0              90             0
  28  GarbageCan      1.683          -0.018         1.670          0              270            0
  29  LightSwitch     -0.119         1.317          1.853          0              180            0
  30  DeskLamp        -1.845         1.057          0.756          0              0              0
  31  Window          1.932          1.409          -0.507         90             270            0
  32  Window          0.481          1.411          -1.932         90             0              0
  33  SideTable       0.626          0.0            -1.705         0              0              0
  34  Footstool       0.176          0.006          -0.358         0              0              0
  35  Dumbbell        1.596          0.715          0.772          0              0              0
  36  Dumbbell        1.776          0.717          0.772          0              0              0
  37  Shelf           -1.700         0.573          1.540          0              90             0
  38  Shelf           -1.700         0.156          1.540          0              90             0
  39  Shelf           -1.700         0.377          1.540          0              90             0
  40  Shelf           -1.839         1.084          1.235          0              90             0
  41  Desk            -1.722         0.003          0.920          0              90             0
  42  Footstool       0.175          0.004          -0.652         0              0              0
  43  GarbageBag      1.624          0.319          -1.609         270            90             83.418
  44  Desk            1.519          1.823          0.385          0              270            0
  45  Chair           -1.459         0.003          0.929          0              292.527        0
  46  NorthWall
  47  EastWall
  48  WestWall

Plan:
STEP 1: Turn right, step forward, and turn left to walk to the upper shelf of a desk. | STEP 2: Pick up the keys closest to the CD. | STEP 3: Turn around, step forward, turn right, step forward and then turn right to be centered with a wooden desk. | STEP 4: Place the keys on the desk near the center edge. | STEP 5: Turn left, step forward, turn right, look straight on the table. | STEP 6: Pick up the keys to the right of the brown container. | STEP 7: Step back and return to the keys that are already on the desk. | STEP 8: Place the keys in hand to the right of the keys on the desk. | END