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           1.5            0.900          -1.0           0              0              0
   1  Statue          -1.632         0.499          1.624          0              0              0              38
   2  KeyChain        -1.192         0.327          0.643          0              180            0              39
   3  KeyChain        0.319          0.291          2.119          0              270            0              42
   4  CreditCard      -1.113         0.327          1.051          0              90             0              39
   5  RemoteControl   -0.399         0.313          1.956          0              0              0              43
   6  RemoteControl   -1.428         0.329          0.44           0              90             0              39
   7  Box             -0.051         0.656          0.089          0              90             0              28
   8  Laptop          -1.270         0.325          0.847          0              90             0              39
   9  Box             -0.007         0.65           0.892          0              0              0              28
  10  Laptop          1.525          0.758          0.241          0              270            0              28
  11  CreditCard      1.600          0.756          -0.058         0              270            0              31
  12  KeyChain        -1.438         0.489          1.818          0              0              0              38
  13  Vase            1.525          0.765          0.691          0              270            0              31
  14  Vase            -1.800         1.616          -1.785         0              0              0              40
  15  Pillow          -1.235         0.461          -0.025         0              75.000         0              39
  16  RemoteControl   0.397          0.293          2.037          0              0              0              42
  17  Watch           1.825          0.760          -0.208         0              270            0              31
  18  Vase            -1.799         1.315          -1.470         0              0              0              41
  19  Statue          -0.384         0.483          0.795          0              90             0              28
  20  Television      1.826          1.241          0.248          0              270            0
  21  LightSwitch     -2.0           1.332          3.920          0              90             0
  22  Window          -0.216         1.495          -1.878         90             0              0
  23  HousePlant      -1.780         0.468          1.965          0              0              0
  24  Painting        -2.0           1.577          0.418          90             270            0
  25  GarbageCan      1.767          -0.001         3.878          0              0              0
  26  FloorLamp       1.228          0.000          3.744          0              0              0
  27  Painting        -0.096         1.578          4.050          90             0              0
  28  CoffeeTable     -0.150         0.000          0.421          0              270            0
  29  Shelf           1.663          0.474          0.609          0              270            0
  30  Shelf           1.663          0.273          0.609          0              270            0
  31  TVStand         1.669          -0.000         0.243          0              270            0
  32  Shelf           1.663          0.302          -0.124         0              270            0
  33  Shelf           1.663          0.442          0.241          0              270            0
  34  Shelf           1.663          0.597          -0.124         0              270            0
  35  Shelf           1.663          0.643          0.609          0              270            0
  36  Cabinet         -1.767         0.729          -1.593         0              91.801         0
  37  Shelf           -1.769         2.041          -1.593         0              91.801         0
  38  SideTable       -1.567         -0.002         1.818          0              90             0
  39  Sofa            -1.445         0.008          0.420          0              90             0
  40  Shelf           -1.769         1.744          -1.593         0              91.801         0
  41  Shelf           -1.768         1.452          -1.593         0              91.801         0
  42  ArmChair        0.396          0.005          2.194          0              180            0
  43  ArmChair        -0.633         0.005          2.194          0              180            0
  44  ShelvingUnit    -1.786         0.001          -1.592         0              91.801         0
  45  NorthWall
  46  EastWall
  47  SouthWall
  48  WestWall

Plan:
STEP 1: turn left, walk forward, turn right, walk past coffee table, stop and face chair that is on the right side | STEP 2: pick up the keys that are on the chair | STEP 3: turn right, turn left, walk towards lamp, hold keys up to lamp | STEP 4: turn the lamp on | END