Task: Examine 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           -2.5           0.906          3.75           0              90             0
   1  Watch           -1.740         0.195          2.299          0              0              0              35
   2  Watch           -0.395         0.576          2.994          0              270            0              38
   3  Statue          -0.270         0.191          2.711          0              270            0              40
   4  Newspaper       -0.782         0.379          0.782          0              0              0              36
   5  Newspaper       -1.816         0.200          2.528          0              0              0              35
   6  KeyChain        -4.531         0.426          3.407          0              270            0              32
   7  CreditCard      -0.395         0.182          2.414          0              270            0              41
   8  Box             -4.582         0.521          1.653          0              270            0              44
   9  Box             -2.865         0.521          4.649          0              0              0              45
  10  CreditCard      -1.157         0.377          0.500          0              0              0              36
  11  TissueBox       -0.553         0.766          2.678          0              270            0              42
  12  Laptop          -0.335         0.758          2.38           0              33.790         0              42
  13  Vase            -2.880         1.518          0.144          0              0              0
  14  RemoteControl   -1.740         0.196          2.872          0              0              0              35
  15  Pillow          -1.379         0.479          4.520          0              0              0              45
  16  KeyChain        -2.045         0.195          2.757          0              0              0              35
  17  Watch           -0.464         0.576          2.890          0              270            0              38
  18  Newspaper       -0.178         0.766          2.678          0              270            0              42
  19  Statue          -0.439         0.173          2.652          0              270            0              40
  20  Statue          -0.478         0.775          2.978          0              180            0              42
  21  Curtains        -1.030         2.113          0.0            0              0              0
  22  Curtains        -3.927         2.113          0.0            0              0              0
  23  HousePlant      -3.127         1.507          0.118          0              0              0
  24  Television      0.0            1.376          2.661          0              270            0
  25  GarbageCan      -0.227         0.005          4.778          0              0              0
  26  DeskLamp        -4.658         0.508          3.318          0              270            0
  27  Painting        -2.507         1.817          0.108          90             0              0
  28  FloorLamp       -4.596         0.006          0.399          0              65.211         0
  29  LightSwitch     -3.233         1.343          5.0            0              180            0
  30  Window          -1.011         1.391          0.029          90             180            0
  31  Window          -3.900         1.391          0.029          90             180            0
  32  Drawer          -4.433         0.473          3.344          0              90             0
  33  SideTable       -4.612         0.009          3.346          0              90             0
  34  Chair           -4.572         0.005          3.862          0              113.899        0
  35  CoffeeTable     -1.972         0.002          2.615          0              270            0
  36  ArmChair        -0.875         0.005          0.566          0              0              0
  37  Shelf           -0.340         0.480          3.046          0              270            0
  38  Shelf           -0.340         0.649          3.046          0              270            0
  39  Shelf           -0.340         0.603          2.312          0              270            0
  40  Shelf           -0.340         0.448          2.678          0              270            0
  41  Shelf           -0.340         0.308          2.312          0              270            0
  42  TVStand         -0.335         0.005          2.679          0              270            0
  43  Shelf           -0.340         0.279          3.046          0              270            0
  44  Sofa            -4.566         0.009          1.880          0              90             0
  45  Sofa            -2.124         0.009          4.558          0              180            0
  46  NorthWall
  47  SouthWall
  48  SouthWall

Plan:
STEP 1: Turn around and walk to the small white end table sitting to the right of the couch | STEP 2: Open the drawer on the end table and pick up the keys then close the drawer | STEP 3: Turn left and cross the room and turn right to face the tall floor lamp | STEP 4: Turn on the lamp | END