Task: pick up keys and view them in the lamp light

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -3.75          0.906          1.0            0              0              0
   1  TissueBox       -0.534         0.184          2.260          0              270            0              40
   2  Newspaper       -0.403         0.766          2.228          0              270            0              41
   3  Newspaper       -2.618         0.421          4.570          0              0              0              44
   4  KeyChain        -0.178         0.765          2.378          0              270            0              41
   5  KeyChain        -4.566         0.506          3.344          0              180            358.893        32
   6  RemoteControl   -1.740         0.196          2.528          0              0              0              34
   7  Laptop          -4.424         0.417          2.640          0              270            0              43
   8  Box             -1.892         0.297          2.413          0              90             0              34
   9  CreditCard      -0.328         0.761          3.128          0              270            0              41
  10  TissueBox       -0.478         0.763          2.678          0              270            0              41
  11  Laptop          -4.424         0.417          1.653          0              270            0              43
  12  Vase            -2.880         1.518          0.144          0              0              0
  13  RemoteControl   -0.875         0.378          0.500          0              0              0              35
  14  Pillow          -1.379         0.479          4.520          0              0              0              44
  15  KeyChain        -4.516         0.426          3.281          0              90             0              31
  16  Watch           -2.197         0.198          2.986          0              0              0              34
  17  Newspaper       -0.328         0.766          2.978          0              270            0              41
  18  Statue          -1.816         0.205          2.757          0              0              0              34
  19  Statue          -2.045         0.208          2.986          0              0              0              34
  20  Curtains        -1.030         2.113          0.0            0              0              0
  21  Curtains        -3.927         2.113          0.0            0              0              0
  22  HousePlant      -3.127         1.507          0.118          0              0              0
  23  Television      0.0            1.376          2.661          0              270            0
  24  GarbageCan      -0.227         0.005          4.778          0              0              0
  25  DeskLamp        -4.658         0.508          3.318          0              270            0
  26  Painting        -2.507         1.817          0.108          90             0              0
  27  FloorLamp       -4.596         0.006          0.399          0              65.211         0
  28  LightSwitch     -3.233         1.343          5.0            0              180            0
  29  Window          -1.011         1.391          0.029          90             180            0
  30  Window          -3.900         1.391          0.029          90             180            0
  31  Drawer          -4.433         0.473          3.344          0              90             0
  32  SideTable       -4.612         0.009          3.346          0              90             0
  33  Chair           -4.572         0.005          3.862          0              113.899        0
  34  CoffeeTable     -1.972         0.002          2.615          0              270            0
  35  ArmChair        -0.875         0.005          0.566          0              0              0
  36  Shelf           -0.340         0.480          3.046          0              270            0
  37  Shelf           -0.340         0.649          3.046          0              270            0
  38  Shelf           -0.340         0.603          2.312          0              270            0
  39  Shelf           -0.340         0.448          2.678          0              270            0
  40  Shelf           -0.340         0.308          2.312          0              270            0
  41  TVStand         -0.335         0.005          2.679          0              270            0
  42  Shelf           -0.340         0.279          3.046          0              270            0
  43  Sofa            -4.566         0.009          1.880          0              90             0
  44  Sofa            -2.124         0.009          4.558          0              180            0
  45  NorthWall
  46  SouthWall
  47  SouthWall

Plan:
STEP 1: walk straight towards the door then turn left towards the table | STEP 2: pick up the keys off of the table | STEP 3: turn around and walk straight a bit then turn right and walk straight towards the window and turn right towards the lamp | STEP 4: turn the lamp light on | END