Task: examine keys with a lamp

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -3.25          0.927          4.75           0              180            0
   1  KeyChain        -3.168         0.185          1.794          0              325.579        0              71
   2  KeyChain        -5.448         0.643          2.564          0              0              0              72
   3  KeyChain        -2.804         0.301          2.226          0              270            0              76
   4  RemoteControl   -2.781         0.301          2.000          0              0              0              76
   5  RemoteControl   -6.062         0.642          1.861          0              0              0              72
   6  Box             -2.739         0.481          1.773          0              270            0              76
   7  Statue          -6.589         1.022          5.172          0              180            0              33
   8  KeyChain        -0.842         0.271          2.084          0              0              0              74
   9  Vase            -1.701         0.930          0.179          0              0              0              27
  10  Vase            -0.764         0.940          0.203          0              0              0              44
  11  Vase            -6.084         1.047          5.171          0              0              0              58
  12  Newspaper       -2.553         0.299          2.206          0              0              0              76
  13  CreditCard      -2.723         0.276          3.591          0              0              0              73
  14  RemoteControl   -3.732         0.278          3.451          0              0              0              73
  15  Laptop          -5.764         0.634          2.376          0              0              0              72
  16  Pillow          -1.515         0.438          3.319          0              300.000        90             75
  17  Vase            -5.713         0.386          5.136          0              0              0              35
  18  Statue          -4.540         0.966          5.134          0              0              0              41
  19  Vase            -1.352         1.258          0.228          0              0              0              51
  20  Plate           -5.939         0.648          3.266          0              0              0              72
  21  Vase            -4.958         0.940          5.201          0              0              0              41
  22  Statue          -5.033         1.566          5.212          0              180            0              54
  23  Statue          -0.812         1.565          0.209          0              0              0              46
  24  Statue          -0.825         1.284          0.255          0              180            0              51
  25  Statue          -3.174         1.105          5.193          0              0              0              55
  26  Statue          -5.865         0.634          2.786          0              65.579         0              72
  27  Shelf           -1.776         0.988          0.184          0              180            0
  28  Chair           -5.413         0.024          1.780          0              0              0
  29  Cabinet         -5.365         1.170          5.031          0              0              0
  30  Chair           -5.388         0.024          3.369          0              355.695        0
  31  Chair           -6.211         0.024          2.517          0              172.601        0
  32  Shelf           -3.937         0.988          5.170          0              0              0
  33  Shelf           -6.572         1.144          5.170          0              0              0
  34  Cabinet         -4.181         1.873          5.029          0              0              0
  35  Shelf           -5.606         0.444          5.170          0              0              0
  36  Drawer          -6.324         0.823          5.001          0              0              0
  37  Cabinet         -2.017         1.714          0.323          0              180            0
  38  Cabinet         -2.465         1.329          5.029          0              0              0
  39  Drawer          -1.093         0.233          0.462          0              0              0
  40  Shelf           -4.672         1.317          5.170          0              0              0
  41  Shelf           -4.672         0.998          5.170          0              0              0
  42  Shelf           -2.221         0.444          5.170          0              0              0
  43  Drawer          -6.324         0.508          5.001          0              0              0
  44  Shelf           -1.041         0.998          0.184          0              180            0
  45  Drawer          -4.264         0.233          0.462          0              0              0
  46  Shelf           -0.810         1.688          0.185          0              180            0
  47  Shelf           -2.671         0.610          0.272          0              90             0
  48  Drawer          -2.681         0.233          0.462          0              0              0
  49  Drawer          -2.940         0.508          5.001          0              0              0
  50  Cabinet         -3.696         1.714          5.031          0              0              0
  51  Shelf           -1.041         1.317          0.184          0              180            0
  52  Cabinet         -1.532         1.873          0.325          0              180            0
  53  Chair           -5.382         0.024          2.695          0              6.230          0
  54  Shelf           -4.903         1.688          5.170          0              0              0
  55  Shelf           -3.187         1.144          5.170          0              0              0
  56  Drawer          -2.940         0.823          5.001          0              0              0
  57  Chair           -6.252         0.024          3.427          0              195.000        0
  58  Cabinet         -5.850         1.329          5.029          0              0              0
  59  Cabinet         -1.980         1.170          5.031          0              0              0
  60  Chair           -6.296         0.024          1.672          0              180            0
  61  FloorLamp       -0.369         0.016          4.992          0              59.992         0
  62  GarbageCan      -6.846         0.024          0.258          0              91.057         0
  63  Television      -3.503         1.506          0.001          0              0              0
  64  LightSwitch     0.0            1.184          4.410          0              270            0
  65  HousePlant      -1.105         0.315          2.740          0              0              0
  66  Painting        -5.769         1.394          -0.026         90             180            0
  67  Window          0.001          1.246          2.471          90             270            0
  68  Window          0.001          1.246          3.558          90             270            0
  69  Window          0.001          1.246          1.368          90             270            0
  70  Painting        -0.967         1.396          5.268          90             180            0
  71  CoffeeTable     -3.002         0.028          1.726          0              0              0
  72  DiningTable     -5.816         0.025          2.563          0              270            0
  73  Sofa            -3.328         0.023          3.632          0              180            0
  74  ArmChair        -1.012         0.028          2.084          0              270            0
  75  ArmChair        -1.577         0.028          3.295          0              210.000        0
  76  CoffeeTable     -2.667         0.025          1.999          0              5.810          0
  77  NorthWall
  78  EastWall
  79  SouthWall
  80  WestWall

Plan:
STEP 1: turn right, walk past the couch, turn left, walk past couch, turn left, walk to small round table | STEP 2: pick up the keys that are on smaller round table | STEP 3: turn around, walk to the table, turn right, walk past couch, turn right, walk across the room to the lamp, hold the keys up | STEP 4: turn the lamp on | END