Task: Examine the keys by the light

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          0.902          -1.0           0              0              0
   1  CellPhone       -4.247         1.271          0.771          0              0              0              22
   2  CellPhone       -1.965         0.456          4.325          0              0              0              66
   3  RemoteControl   -3.789         0.395          3.615          0              90             0              56
   4  Box             -2.914         0.679          5.826          0              180            0              55
   5  Box             -1.663         0.679          5.826          0              180            0              55
   6  Vase            -1.685         0.462          4.048          0              0              0              66
   7  CellPhone       -3.585         0.397          4.148          0              90             0              56
   8  WateringCan     -3.580         0.003          5.503          4.139          0              0              Floor|-04.41|
   9  KeyChain        -1.545         0.453          3.910          0              0              0              66
  10  Vase            -4.242         0.789          1.181          0              0              0              25
  11  Vase            -4.228         0.789          0.756          0              0              0              25
  12  Laptop          -2.246         0.450          4.048          0              0              0              66
  13  Pillow          -3.585         0.451          4.415          0              90             0              56
  14  RemoteControl   -0.531         0.693          5.999          0              315            0              47
  15  CreditCard      -3.381         0.394          4.415          0              90             0              56
  16  Vase            -4.225         0.789          0.382          0              0              0              25
  17  Statue          -2.011         0.656          -2.202         0              0              0              53
  18  Statue          -2.106         0.462          3.771          0              180            0              66
  19  Statue          -2.238         0.756          -2.202         0              0              0              53
  20  Shelf           -4.253         2.157          0.771          0              0              0
  21  Painting        -3.368         1.741          -0.298         0              0              0
  22  Shelf           -4.253         1.306          0.771          0              0              0
  23  Painting        -1.756         1.424          -3.595         0              0              0
  24  Shelf           -4.253         1.690          0.771          0              0              0
  25  Shelf           -4.261         0.833          0.771          0              0              0
  26  Drawer          0.411          0.581          1.221          0              180            0
  27  Drawer          -0.000         0.170          1.221          0              180            0
  28  Drawer          -0.000         0.581          1.221          0              180            0
  29  Drawer          0.411          0.375          1.221          0              180            0
  30  Drawer          0.411          0.170          1.221          0              180            0
  31  Drawer          -0.000         0.375          1.221          0              180            0
  32  Desk            -0.352         0.003          1.371          0              180            0
  33  FloorLamp       0.391          -0.001         5.157          0              0              0
  34  Window          -2.828         0.470          -0.157         90             199.328        0
  35  Window          -4.410         1.702          1.787          90             270            0
  36  Window          -3.638         1.702          6.735          90             0              0
  37  Window          -4.410         1.702          2.790          90             270            0
  38  Window          -2.827         1.702          -0.157         90             199.328        0
  39  Window          -0.131         1.702          6.735          90             0              0
  40  Window          -1.013         1.702          -0.154         90             159.633        0
  41  Window          -4.410         1.702          5.980          90             270            0
  42  Television      -0.153         1.176          5.790          0              225            0
  43  GarbageCan      0.357          0.003          2.159          0              90             0
  44  DeskLamp        0.277          0.735          1.381          0              0              0
  45  HousePlant      -1.819         0.641          -2.011         0              315            0
  46  LightSwitch     -2.740         1.495          -0.405         0              180            0
  47  TVStand         -0.118         0.001          5.874          0              45             0
  48  Chair           -1.353         0.002          -2.872         0              349.207        0
  49  Chair           -2.220         0.002          -1.298         0              168.118        0
  50  Chair           -1.515         0.007          -1.331         358.639        187.454        0
  51  Chair           -2.189         0.002          -2.835         0              2.328          0
  52  Safe            0.174          0.001          -0.071         0              323.940        0
  53  DiningTable     -1.783         0.003          -2.039         0              0              0
  54  Chair           -0.636         0.010          0.993          0              358.396        0
  55  Sofa            -2.161         0.006          6.115          0              180            0
  56  Sofa            -3.782         0.006          4.153          0              90             0
  57  Shelf           -1.095         0.607          1.321          0              180            0
  58  Shelf           -1.267         0.607          1.321          0              180            0
  59  Shelf           -1.267         0.401          1.321          0              180            0
  60  Shelf           -1.095         0.196          1.320          0              180            0
  61  Shelf           -1.095         0.401          1.321          0              180            0
  62  Shelf           -1.267         0.196          1.320          0              180            0
  63  ArmChair        -2.628         0.009          2.421          0              0              0
  64  Chair           -0.485         0.010          4.452          0              270            0
  65  Chair           -0.431         0.010          3.595          0              270            0
  66  CoffeeTable     -1.965         0.000          4.187          0              0              0
  67  NorthWall
  68  EastWall
  69  SouthWall
  70  WestWall

Plan:
STEP 1: Turn left walk forward then turn right head to the center table  | STEP 2: Pick up the keys on the center table  | STEP 3: Turn left then walk towards the lamp | STEP 4: Turn on the lamp | END