Task: examine a set of keys by the light of the 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           -3.75          0.907          5.5            0              270            0
   1  Plate           -4.112         0.758          -0.502         0              0              0              52
   2  Watch           -1.217         0.770          0.278          0              90             0              55
   3  Vase            -4.659         0.757          -0.379         0              0              0              52
   4  Vase            -4.477         0.757          -0.379         0              0              0              52
   5  Pencil          -4.659         0.758          -0.008         0              0              0              52
   6  KeyChain        -1.320         0.450          2.322          0              0              0              53
   7  KeyChain        0.319          0.552          2.454          0              90             0              37
   8  CreditCard      0.233          0.551          2.153          0              0              0              37
   9  CreditCard      -3.930         0.754          -0.255         0              0              0              52
  10  RemoteControl   -1.554         0.452          3.031          0              0              0              53
  11  Book            -1.087         0.455          3.268          0              0              0              53
  12  Box             0.957          0.286          6.189          0              327.955        0              45
  13  Pillow          0.438          0.581          5.162          321.968        0              0              45
  14  Bowl            0.578          0.553          2.454          0              0              0              37
  15  WateringCan     -0.816         0.005          0.189          0              0              0
  16  TissueBox       -4.659         0.756          -0.749         0              0              0              50
  17  Newspaper       0.424          0.418          4.301          0              18.749         0              44
  18  CreditCard      0.578          0.551          2.755          0              0              0              37
  19  KeyChain        0.628          0.432          4.787          0              0              0              45
  20  Boots           -6.309         0.006          1.252          0              92.842         0
  21  Pencil          -4.842         0.758          -0.749         0              0              0              52
  22  Laptop          0.379          0.541          2.834          0              301.058        0              37
  23  Vase            0.578          0.554          2.153          0              0              0              37
  24  RemoteControl   -1.437         0.452          2.322          0              0              0              53
  25  Watch           0.193          0.357          2.346          0              180            0              39
  26  CellPhone       -4.842         0.754          -0.379         0              0              0              48
  27  Plate           -4.044         0.748          -0.078         0              0              0              51
  28  Painting        -6.5           1.759          -0.341         0              0              0
  29  Painting        0.704          1.778          0.782          0              0              0
  30  Television      1.5            1.690          2.562          0              270            0
  31  FloorLamp       1.111          0.007          6.805          0              0              0
  32  GarbageCan      -6.128         -0.003         2.800          0              0              0
  33  LightSwitch     -6.5           1.498          1.345          0              90             0
  34  HousePlant      -0.753         0.874          0.209          0              0              0
  35  Window          1.496          1.712          4.454          90             90             0
  36  Window          -4.210         1.577          -1.980         90             180            0
  37  CoffeeTable     0.405          0.008          2.605          0              270            0
  38  Drawer          0.597          0.234          2.604          0              270            0
  39  Drawer          0.214          0.393          2.604          0              270            0
  40  Drawer          0.214          0.234          2.609          0              270            0
  41  Drawer          0.214          0.075          2.604          0              270            0
  42  Drawer          0.597          0.075          2.604          0              270            0
  43  Drawer          0.597          0.393          2.604          0              270            0
  44  Ottoman         0.493          0.006          4.309          0              0              0
  45  ArmChair        0.420          0.014          5.129          0              180            0
  46  Chair           -4.664         0.008          0.164          0              180            0
  47  Chair           -3.424         0.008          -0.321         0              270            0
  48  Chair           -4.988         0.008          -0.401         0              90             0
  49  Chair           -3.904         0.008          -0.827         0              0              0
  50  Chair           -4.570         0.008          -0.831         0              0              0
  51  Chair           -3.996         0.008          0.091          0              180            0
  52  DiningTable     -4.295         0.006          -0.378         0              0              0
  53  Sofa            -1.527         0.013          2.559          0              90             0
  54  SideTable       -1.030         0.006          0.160          0              0              0
  55  Drawer          -1.030         0.780          0.225          0              0              0
  56  NorthWall
  57  EastWall
  58  SouthWall
  59  WestWall

Plan:
STEP 1: turn to the left and at the staircase turn to the left and move forward to the chair with the ottoman in front of it, move around the chair to face the ottoman that is in front of the chair | STEP 2: pick up the set of keys that is sitting on the chair | STEP 3: turn to the left and go around to the back of the chair to the tall lamp in the corner | STEP 4: turn on the lamp | END