Task: Look at keys under a tall lamp

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.0            0.900          -1.25          0              180            0
   1  Plate           1.520          0.708          -0.710         0              270            0              31
   2  Newspaper       -1.887         0.591          1.096          0              0              0              40
   3  Newspaper       -1.809         0.595          0.031          0              0              0              40
   4  Statue          3.786          0.649          -0.621         0              0              0              39
   5  KeyChain        -0.287         0.879          1.982          0              0              0              35
   6  KeyChain        -1.673         0.311          -1.168         0              240.000        0              22
   7  RemoteControl   1.291          0.484          0.980          0              0              0              37
   8  RemoteControl   1.291          0.484          0.194          0              0              0              37
   9  Laptop          0.167          0.333          0.397          0              0              0              43
  10  Box             -0.221         0.122          -2.044         0              0              0              43
  11  Newspaper       -1.809         0.595          0.741          0              270            0              40
  12  CreditCard      0.332          0.335          0.018          0              0              0              43
  13  Vase            0.003          0.340          0.777          0              0              0              43
  14  KeyChain        3.786          0.640          -0.983         0              180            0              39
  15  Plate           -1.819         0.097          0.729          0              0              0              41
  16  Laptop          1.354          0.480          0.784          0              0              0              37
  17  CellPhone       1.416          0.482          0.587          0              0              0              37
  18  RemoteControl   -1.732         0.595          0.208          0              0              0              40
  19  Pillow          1.435          0.515          -0.125         0              0              0              37
  20  Vase            0.332          0.339          0.144          0              0              0              43
  21  Statue          0.003          0.345          0.144          0              180            0              43
  22  ArmChair        -1.761         0.0            -1.488         0              240.000        0
  23  Television      -2.035         1.081          0.555          0              90             0
  24  LightSwitch     2.099          1.353          -0.828         0              90             0
  25  HousePlant      -0.804         0.000          -2.187         0              0              0
  26  FloorLamp       1.689          0.002          1.776          0              90             0
  27  Painting        1.983          1.585          0.326          90             270            0
  28  GarbageCan      -1.891         -0.029         -0.409         0              0              0
  29  Window          2.775          1.281          -2.018         90             180            0
  30  Window          -0.013         1.289          -2.450         90             180            0
  31  SideTable       1.566          0.000          -0.689         0              180            0
  32  Drawer          1.566          0.624          -0.741         0              180            0
  33  Shelf           -0.147         0.172          1.925          0              0              0
  34  Shelf           -0.147         0.552          1.925          0              0              0
  35  Shelf           -0.147         0.880          1.924          0              0              0
  36  ShelvingUnit    -0.147         0.006          1.924          0              0              0
  37  Sofa            1.556          -0.004         0.424          0              270            0
  38  Shelf           0.167          0.104          0.200          0              270            0
  39  DiningTable     3.583          0.000          -1.164         0              270            0
  40  TVStand         -1.965         0.000          0.563          0              270            0
  41  Shelf           -1.964         0.082          0.563          0              270            0
  42  Shelf           -1.964         0.333          0.563          0              270            0
  43  CoffeeTable     0.167          0.001          0.216          0              270            0
  44  NorthWall
  45  EastWall
  46  SouthWall
  47  WestWall

Plan:
STEP 1: Turn around and cross the room the brown stand with shelves  | STEP 2: Pick up the keys that are on the top shelf | STEP 3: Turn to the right and walk to the tall floor lamp | STEP 4: Turn on the lamp | END