Task: pick up the keys on the table and view them in the lamp light

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           0.900          -0.25          0              0              0
   1  Plate           2.548          0.789          -0.661         0              0              0              41
   2  Statue          -1.862         0.242          2.712          0              0              0              37
   3  Candle          2.327          0.784          -0.168         0              0              0              41
   4  Candle          -1.632         0.233          2.675          0              0              0              37
   5  KeyChain        -1.938         0.447          0.400          0              0              0              42
   6  KeyChain        -3.168         0.584          0.213          0              0              0              36
   7  KeyChain        -3.428         0.584          -0.297         0              0              0              36
   8  CreditCard      -0.552         0.190          0.820          0              270            0              34
   9  Box             -3.254         0.736          0.723          0              0              0              36
  10  Box             1.27           0.155          -0.293         0              9.804          0              41
  11  Candle          -2.020         0.447          0.145          0              0              0              42
  12  Vase            -1.480         0.711          2.788          0              0              0              38
  13  CreditCard      2.327          0.784          -0.292         0              0              0              41
  14  Vase            1.884          0.793          -0.045         0              0              0              41
  15  WateringCan     -3.252         -0.000         -1.861         0              0              0
  16  Laptop          1.219          0.782          -0.168         0              0              0              41
  17  RemoteControl   2.327          0.785          -0.415         0              0              0              41
  18  Statue          -1.856         0.453          0.273          0              0              0              42
  19  KeyChain        -1.774         0.449          0.400          0              0              0              42
  20  Pillow          -3.254         0.645          -0.552         0              0              0              36
  21  Plate           2.105          0.789          0.077          0              0              0              41
  22  Statue          2.548          0.794          -0.168         0              0              0              41
  23  LightSwitch     -3.900         1.284          1.684          0              90             0
  24  GarbageCan      0.299          5.066          1.253          0              2.215          0
  25  FloorLamp       -0.331         0.001          2.728          0              0              0
  26  Painting        -0.056         1.601          1.733          90             270            0
  27  Painting        4.136          1.590          -0.296         90             270            0
  28  Television      -1.859         1.200          2.702          358.970        180            0
  29  HousePlant      -3.580         0.604          -1.617         0              0              0
  30  Window          1.478          1.506          -1.927         90             0              0
  31  Window          -2.003         1.506          -1.927         90             0              0
  32  Window          3.480          1.506          -1.927         90             0              0
  33  ArmChair        -0.437         0.005          1.923          0              270            0
  34  ArmChair        -0.430         0.005          1.062          0              270            0
  35  ArmChair        -2.004         0.005          -1.578         0              0              0
  36  Sofa            -3.419         0.009          -0.042         0              90             0
  37  DiningTable     -1.857         0.231          2.787          0              0              0
  38  TVStand         -1.857         0.000          2.788          0              0              0
  39  SideTable       -3.597         0.004          1.437          0              0              0
  40  SideTable       -3.597         0.004          -1.607         0              0              0
  41  DiningTable     1.883          0.000          -0.291         0              0              0
  42  CoffeeTable     -2.023         0.005          0.018          0              270            0
  43  Chair           1.462          -0.001         0.195          0              164.999        0
  44  Chair           2.288          -0.001         -0.780         0              0              0
  45  Chair           2.223          -0.001         0.149          0              186.648        0
  46  Chair           1.638          -0.001         -0.847         0              0              0
  47  NorthWall
  48  EastWall
  49  SouthWall
  50  WestWall

Plan:
STEP 1: walk straight towards the door and then turn left and walk towards the wall and turn left then turn right and walk towards the table then turn right then turn left and turn left again towards the table | STEP 2: pick up the keys on the table on the left side | STEP 3: turn left towards the chair then turn left again and walk straight then turn right towards the lamp | STEP 4: turn the lamp light on | END