Task: examine keys with the 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          0.998          -2.25          0              90             0
   1  Vase            -3.429         0.883          -1.385         0              0              0              32
   2  KeyChain        0.159          0.860          -2.506         0              90             0              40
   3  KeyChain        0.254          0.860          -2.433         0              270            0              40
   4  KeyChain        -0.240         0.972          -2.533         0              90             0              41
   5  RemoteControl   -3.207         0.880          -0.992         0              0              0              32
   6  Box             -1.354         0.608          -0.738         0              270            0              33
   7  Laptop          -1.254         0.523          0.897          0              0              0              37
   8  Laptop          -3.872         0.876          -1.385         0              0              0              32
   9  Box             -2.863         1.03           -0.958         0              0              0              32
  10  Pillow          0.629          0.482          -1.667         0              0              0              29
  11  CreditCard      -0.723         0.445          -2.391         0              180            0              38
  12  Plate           -3.851         0.875          -1.011         0              0              0              32
  13  Laptop          -0.827         0.452          -0.738         0              0              0              33
  14  RemoteControl   0.748          0.306          -1.949         0              0              0              29
  15  Vase            -3.493         0.874          -1.182         0              0              0              32
  16  Statue          0.257          0.965          -2.518         0              0              0              41
  17  KeyChain        -0.135         0.972          -2.651         0              90             0              41
  18  Pen             -2.985         0.887          -1.385         0              0              0              32
  19  Curtains        -3.013         1.557          -3.082         0              0              0
  20  Television      -1.063         0.939          -2.439         0              0              0
  21  HousePlant      0.753          0.855          -2.467         0              215.129        0
  22  HousePlant      0.739          0.855          -1.159         0              310.776        0
  23  FloorLamp       -2.186         0.096          1.111          0              0              0
  24  GarbageCan      -1.946         0.097          -2.899         0              216.243        0
  25  Painting        -4.326         1.817          -1.223         90             270            0
  26  Window          0.010          1.087          0.001          90             270            0
  27  Window          -2.983         1.544          -3.220         90             180            0
  28  LightSwitch     -3.907         1.371          1.386          0              180            0
  29  ArmChair        0.662          0.103          -1.781         0              270            0
  30  Stool           0.765          0.108          -1.148         0              0              0
  31  Stool           0.765          0.108          -2.460         0              35.380         0
  32  DiningTable     -3.428         0.099          -1.188         0              0              0
  33  CoffeeTable     -1.090         0.097          -0.737         0              0              0
  34  Chair           -3.793         0.098          -0.841         0              164.999        0
  35  Chair           -3.073         0.098          -1.515         0              11.313         0
  36  Chair           -3.810         0.098          -1.549         0              352.857        0
  37  Sofa            -0.905         0.099          0.959          0              180            0
  38  CoffeeTable     -1.046         0.096          -2.473         0              180            0
  39  Chair           -3.068         0.098          -0.882         0              180            0
  40  Drawer          -0.031         0.872          -2.487         0              0              0
  41  SideTable       -0.030         0.097          -2.552         0              0              0
  42  NorthWall
  43  EastWall
  44  SouthWall
  45  WestWall

Plan:
STEP 1: take a step, turn left, take a step, turn right, walk across the room, turn right to face white table | STEP 2: pick up the keys that are on the table | STEP 3: turn right, walk forward, turn right before table and chairs, walk across to the lamp, hold keys up | STEP 4: turn the lamp on | END