Task: examine keys with 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           1.25           0.900          -0.75          0              270            0
   1  KeyChain        0.336          0.478          -1.307         0              180            0              36
   2  KeyChain        -1.552         0.760          -0.350         0              90             0              40
   3  Laptop          -0.115         0.471          -1.120         0              180            0              36
   4  Box             0.133          0.691          0.906          0              270            0              33
   5  Bowl            -0.416         0.477          -1.057         0              180            0              36
   6  KeyChain        -0.307         0.546          0.906          0              180            0              33
   7  Vase            -1.588         0.168          -0.531         0              0              0              41
   8  Statue          -1.807         0.761          -0.350         0              0              0              40
   9  Pillow          2.151          0.586          -2.058         0              270            0              46
  10  Laptop          -1.732         0.753          -0.696         0              73.105         0              40
  11  Vase            -1.808         1.615          -2.597         0              0              0              37
  12  Statue          0.145          0.551          -1.129         0              0              0              36
  13  RemoteControl   2.067          0.453          -1.890         0              270            0              46
  14  Vase            0.009          0.168          -2.264         0              0              0              30
  15  CreditCard      2.321          0.452          -2.141         0              270            0              46
  16  Vase            -1.663         0.419          -1.715         0              90             0              45
  17  Statue          -1.680         0.770          -1.055         0              90             0              40
  18  Painting        0.172          1.781          1.934          0              0              0
  19  HousePlant      -1.646         0.755          -1.792         0              0              0
  20  LightSwitch     1.406          1.294          1.651          0              180            0
  21  Television      -0.035         1.239          -2.439         0              0              0
  22  FloorLamp       -1.573         -0.003         1.302          0              0              0
  23  GarbageCan      0.742          -0.000         -2.522         0              270            0
  24  Window          -0.816         1.534          -2.719         90             0              0
  25  Window          0.791          1.534          -2.718         90             0              0
  26  Shelf           0.340          0.474          -2.377         0              0              0
  27  Shelf           0.341          0.273          -2.377         0              0              0
  28  TVStand         -0.025         -0.000         -2.385         0              0              0
  29  Shelf           -0.393         0.302          -2.382         0              0              0
  30  Shelf           -0.026         0.442          -2.380         0              0              0
  31  Shelf           -0.393         0.597          -2.382         0              0              0
  32  Shelf           0.340          0.643          -2.377         0              0              0
  33  Sofa            0.124          0.008          1.032          0              180            0
  34  Cabinet         -1.827         0.729          -2.357         0              90             0
  35  Shelf           -1.827         2.041          -2.356         0              90             0
  36  CoffeeTable     0.017          -0.000         -1.108         0              180            0
  37  Shelf           -1.827         1.744          -2.356         0              90             0
  38  Shelf           -1.827         1.452          -2.356         0              90             0
  39  Shelf           -1.730         0.278          -1.635         0              90             0
  40  TVStand         -1.733         -0.000         -1.058         0              90             0
  41  Shelf           -1.730         0.302          -0.479         0              90             0
  42  Shelf           -1.732         0.446          -1.056         0              90             0
  43  Shelf           -1.731         0.596          -0.478         0              90             0
  44  Shelf           -1.733         0.648          -1.635         0              90             0
  45  Shelf           -1.730         0.477          -1.635         0              90             0
  46  ArmChair        2.344          0.002          -2.041         0              270            0
  47  ShelvingUnit    -1.847         0.001          -2.357         0              90             0
  48  NorthWall
  49  EastWall
  50  SouthWall
  51  WestWall

Plan:
STEP 1: turn right, take a step, turn left, walk forward to the shelves | STEP 2: pick up the keys that are on the shelf | STEP 3: turn right, walk to the lamp, hold keys up | STEP 4: turn the lamp on | END