Task: Look at keys under a lamp's light.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.75           0.900          0.0            0              0              0
   1  Plate           0.250          0.339          0.524          0              0              0              43
   2  Statue          3.685          0.649          -0.621         0              0              0              39
   3  Statue          3.482          0.649          -0.983         0              0              0              39
   4  KeyChain        1.291          0.482          0.194          0              0              0              37
   5  KeyChain        3.887          0.640          -1.708         0              0              0              39
   6  KeyChain        1.479          0.482          0.391          0              0              0              37
   7  CreditCard      -1.740         0.345          0.895          0              0              0              42
   8  CreditCard      1.774          0.705          -0.773         0              270            0              31
   9  Box             0.167          0.419          0.271          0              0              0              43
  10  Box             -0.221         0.122          -2.044         0              0              0              43
  11  Newspaper       -1.887         0.591          0.208          0              0              0              40
  12  CreditCard      1.605          0.705          -0.773         0              270            0              31
  13  Vase            0.019          0.883          1.928          0              0              0              35
  14  KeyChain        -1.809         0.597          0.386          0              90             0              44
  15  Plate           3.335          0.631          -1.733         0              0              0              39
  16  Laptop          3.525          0.631          -1.438         0              271.146        0              39
  17  CellPhone       -1.964         0.593          1.096          0              0              0              40
  18  RemoteControl   0.250          0.337          0.777          0              0              0              43
  19  Pillow          1.435          0.515          -0.125         0              0              0              37
  20  Vase            -1.856         0.097          0.563          0              0              0              45
  21  Statue          3.786          0.649          -1.527         0              0              0              39
  22  ArmChair        -1.761         0.0            -1.488         0              240.000        0
  23  Television      -2.035         1.081          0.555          0              90             0
  24  LightSwitch     2.099          1.353          -0.828         0              90             0
  25  HousePlant      -0.804         0.000          -2.187         0              0              0
  26  FloorLamp       1.689          0.002          1.776          0              90             0
  27  Painting        1.983          1.585          0.326          90             270            0
  28  GarbageCan      -1.891         -0.029         -0.409         0              0              0
  29  Window          2.775          1.281          -2.018         90             180            0
  30  Window          -0.013         1.289          -2.450         90             180            0
  31  SideTable       1.566          0.000          -0.689         0              180            0
  32  Drawer          1.566          0.624          -0.741         0              180            0
  33  Shelf           -0.147         0.172          1.925          0              0              0
  34  Shelf           -0.147         0.552          1.925          0              0              0
  35  Shelf           -0.147         0.880          1.924          0              0              0
  36  ShelvingUnit    -0.147         0.006          1.924          0              0              0
  37  Sofa            1.556          -0.004         0.424          0              270            0
  38  Shelf           0.167          0.104          0.200          0              270            0
  39  DiningTable     3.583          0.000          -1.164         0              270            0
  40  TVStand         -1.965         0.000          0.563          0              270            0
  41  Shelf           -1.964         0.082          0.563          0              270            0
  42  Shelf           -1.964         0.333          0.563          0              270            0
  43  CoffeeTable     0.167          0.001          0.216          0              270            0
  44
  45
  46  NorthWall
  47  EastWall
  48  SouthWall
  49  WestWall

Plan:
STEP 1: Turn around to the sofa on your right. | STEP 2: Grab the left set of keys from the sofa. | STEP 3: Walk to the lamp next to the sofa. | STEP 4: Turn the lamp on. | END