Task: Examine a set of 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           -2.0           0.900          1.5            0              90             0
   1  Newspaper       -0.185         0.549          2.031          0              0              0              34
   2  Newspaper       -1.809         0.595          0.031          0              0              0              40
   3  Vase            -1.819         0.097          0.232          0              0              0              41
   4  KeyChain        1.674          0.616          -0.712         0              180            0              32
   5  CellPhone       0.414          0.336          0.397          0              0              0              43
   6  CreditCard      1.597          0.616          -0.771         0              270            0              32
   7  RemoteControl   -1.819         0.095          1.061          0              0              0              44
   8  RemoteControl   1.605          0.708          -0.710         0              270            0              31
   9  Laptop          1.354          0.480          0.980          0              0              0              37
  10  Box             -0.221         0.122          -2.044         0              0              0              43
  11  Newspaper       1.354          0.480          0.587          0              0              0              37
  12  CreditCard      -1.806         0.290          -1.424         0              240.000        0              22
  13  Vase            3.786          0.644          -1.527         0              0              0              39
  14  KeyChain        1.479          0.482          0.194          0              0              0              37
  15  Plate           0.250          0.339          0.651          0              0              0              43
  16  Laptop          3.525          0.631          -1.438         0              271.146        0              39
  17  CellPhone       0.414          0.336          0.144          0              0              0              43
  18  RemoteControl   -0.078         0.337          0.144          0              0              0              43
  19  Pillow          1.435          0.515          -0.125         0              0              0              37
  20  Vase            0.250          0.339          0.271          0              0              0              43
  21  Statue          -1.809         0.606          0.919          0              90             0              45
  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
  45
  46  NorthWall
  47  EastWall
  48  SouthWall
  49  WestWall

Plan:
STEP 1: Turn right and cross the room then hang a left and walk forward, turn left right before the doorway to face the little black end table next to the couch | STEP 2: Open the drawer that's on the end table and pick up the keys that are inside then close the drawer | STEP 3: Head across the room to the tall floor lamp that is past the couch | STEP 4: Turn on the lamp | END