Task: examine a set of keys in the light of 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           -6.0           0.905          1.0            0              90             0
   1  Newspaper       -1.565         0.454          1.821          0              0              0              37
   2  KeyChain        -3.115         0.502          0.390          0              0              0              42
   3  KeyChain        -2.707         1.100          4.153          0              0              0              23
   4  CreditCard      -3.115         0.501          0.672          0              0              0              42
   5  RemoteControl   -2.229         0.503          0.390          0              0              0              42
   6  RemoteControl   -2.412         1.101          4.299          0              0              0              23
   7  Box             -3.411         0.798          0.296          0              270            0              42
   8  Laptop          -1.876         0.452          1.821          0              0              0              37
   9  Box             -1.7           0.307          4.296          0              0              0              Floor|-03.53|
  10  Watch           -2.264         1.100          4.371          0              180            0              23
  11  Pillow          -1.830         0.597          0.222          0              0              0              42
  12  WateringCan     -0.269         0.005          2.366          1.834          0              0              Floor|-03.53|
  13  Newspaper       -1.820         0.513          0.583          0              346.933        0              42
  14  KeyChain        -2.229         0.502          0.578          0              0              0              42
  15  Laptop          -2.820         0.5            0.296          0              0              0              42
  16  RemoteControl   -2.724         0.119          4.151          0              90             0              24
  17  CreditCard      -2.783         0.606          4.189          0              90             0              22
  18  Statue          -2.116         1.105          4.153          0              0              0              23
  19  Curtains        -0.089         2.460          2.111          0              0              0
  20  Curtains        -1.146         1.383          4.530          0              0              0
  21  Drawer          -2.288         0.267          4.112          0              180            0
  22  Drawer          -2.836         0.750          4.111          0              180            0
  23  Dresser         -2.560         0.005          4.224          0              180            0
  24  Drawer          -2.834         0.267          4.113          0              180            0
  25  Drawer          -2.288         0.749          4.110          0              180            0
  26  LightSwitch     -7.0           1.363          2.605          0              74.999         0
  27  Television      -2.554         1.583          4.300          0              180            0
  28  FloorLamp       -0.301         0.014          -0.129         1.374          0              0
  29  Painting        0.0            1.583          4.006          90             270            0
  30  DeskLamp        -6.766         0.411          -0.028         0              0              0
  31  GarbageCan      -4.115         -0.032         -0.161         0              0              0
  32  Painting        -3.704         1.718          4.600          90             180            0
  33  Window          -0.037         1.705          2.096          90             270            0
  34  Window          -1.157         1.697          4.593          90             180            0
  35  HousePlant      -0.287         0.395          2.108          0              0              0
  36  Chair           -6.022         0.005          0.092          0              338.430        0
  37  Ottoman         -1.773         0.004          1.807          0              0              0
  38  SideTable       -6.720         0.006          1.513          0              326.715        0
  39  SideTable       -4.292         0.006          0.413          0              0              0
  40  ArmChair        -4.384         0.008          1.395          0              90             0
  41  SideTable       -0.253         0.004          2.102          0              0              0
  42  Sofa            -2.524         0.010          0.263          0              0              0
  43  Drawer          -0.357         0.208          3.798          0              0              0
  44  Dresser         -0.271         0.004          4.011          0              270            0
  45  Drawer          -0.359         0.581          3.795          0              0              0
  46  Drawer          -0.357         0.583          4.225          0              0              0
  47  Drawer          -0.358         0.210          4.221          0              0              0
  48  DogBed          -0.844         0.007          0.138          0              90             0
  49  NorthWall
  50  EastWall
  51  SouthWall
  52  WestWall

Plan:
STEP 1: turn left, walk past chair, turn right, walk towards ottoman, turn right before ottoman, walk towards couch, stand facing couch in front of the keys and remote | STEP 2: pick up the keys that are on the couch | STEP 3: turn left, walk to end of couch, turn right, face the lamp that is in the corner | STEP 4: turn lamp on, hold keys up to light to examine | END