Task: examine the 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           -0.25          0.901          1.75           0              0              0
   1  Statue          0.500          0.723          0.177          0              0              0              28
   2  Statue          -1.648         0.716          3.539          0              0              0              31
   3  KeyChain        -1.101         0.546          0.650          0              0              0              30
   4  KeyChain        -2.699         0.568          0.847          0              0              0              33
   5  KeyChain        -2.824         0.566          0.847          0              0              0              33
   6  CreditCard      0.880          0.717          0.096          0              0              0              28
   7  CreditCard      -0.851         0.546          0.471          0              0              0              30
   8  RemoteControl   -2.824         0.564          0.382          0              0              0              33
   9  RemoteControl   -2.699         0.567          0.661          0              0              0              33
  10  Book            0.247          0.719          0.177          0              0              0              28
  11  Box             -1.461         0.636          2.361          0              90             0              29
  12  Laptop          -3.217         0.546          0.582          0              29.999         0              33
  13  KeyChain        -1.349         0.711          3.759          0              0              0              31
  14  Pillow          -1.351         0.635          0.650          0              0              0              30
  15  Statue          0.373          0.719          0.421          0              0              0              28
  16  RemoteControl   -1.948         0.711          3.869          0              0              0              31
  17  CreditCard      -1.461         0.447          2.601          0              0              0              29
  18  Watch           -1.200         0.707          3.649          0              0              0              31
  19  Painting        -3.049         1.690          4.341          0              0              0
  20  Curtains        -3.973         2.254          1.453          0              0              0
  21  Painting        -1.096         1.773          -0.017         0              0              0
  22  LightSwitch     -0.129         1.407          4.348          0              180            0
  23  GarbageCan      -0.376         0.003          4.103          0              180            0
  24  Television      -1.504         1.189          4.126          0              180            0
  25  HousePlant      -2.015         0.447          2.357          0              0              0
  26  FloorLamp       -3.686         -0.001         4.013          0              0              0
  27  Window          -4.051         1.197          1.312          90             270            0
  28  SideTable       0.626          0.006          0.340          0              0              0
  29  CoffeeTable     -1.735         0.005          2.360          0              0              0
  30  Sofa            -1.135         -0.004         0.517          0              0              0
  31  TVStand         -1.566         0.004          3.869          0              0              0
  32  Shelf           0.622          0.238          0.340          0              0              0
  33  ArmChair        -3.063         0.000          0.517          0              0              0
  34  NorthWall
  35  EastWall
  36  SouthWall
  37  WestWall

Plan:
STEP 1: walk forward, turn left, take a few steps, turn right to face TV stand | STEP 2: pick up the keys that are on the TV stand | STEP 3: turn left, walk across to wall, turn right, walk to lamp in the corner, hold keys up | STEP 4: turn the lamp on | END