Task: Examine a set of keys under the light of a floor lamp.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.25          0.909          3.0            0              270            0
   1  KeyChain        -2.063         0.390          4.308          0              270            0              43
   2  CreditCard      0.279          0.681          2.144          0              0              0              31
   3  CreditCard      -0.305         0.405          3.852          0              0              0              35
   4  RemoteControl   -2.188         0.403          4.120          0              0              0              43
   5  RemoteControl   -2.814         0.474          1.286          0              0              0              44
   6  Box             -3.190         0.659          -0.208         0              180            0              42
   7  TissueBox       -2.514         0.475          0.973          0              0              0              44
   8  KeyChain        -3.542         0.556          3.478          0              0              0              37
   9  Boots           -0.443         0.009          -0.549         0              339.553        0
  10  Candle          -0.378         0.844          0.419          0              0              0              28
  11  RemoteControl   -2.213         0.474          1.036          0              0              0              44
  12  CreditCard      -0.414         1.305          4.106          0              0              0              34
  13  Laptop          -0.245         1.303          3.610          0              0              0              34
  14  Pillow          -3.707         0.635          3.745          0              0              0              37
  15  Statue          -2.514         0.478          1.224          0              0              0              44
  16  GarbageCan      -5.166         -0.026         -0.382         0              0              0
  17  Television      0.145          1.528          1.996          0              270            0
  18  LightSwitch     -6.0           1.381          2.882          0              90             0
  19  Painting        -0.048         1.912          3.687          90             270            0
  20  Painting        -5.353         1.990          -0.694         90             180            0
  21  HousePlant      -0.289         0.840          0.301          0              0              0
  22  FloorLamp       -4.100         0.013          -0.468         0              0              0
  23  Window          -4.131         1.557          -0.827         90             180            0
  24  Window          -0.972         1.557          -0.827         90             180            0
  25  Window          -2.553         1.557          -0.827         90             180            0
  26  Drawer          -0.359         0.583          0.516          0              270            0
  27  Drawer          -0.359         0.220          0.516          0              270            0
  28  SideTable       -0.276         0.015          0.516          0              270            0
  29  TVStand         0.172          0.591          1.982          0              270            0
  30  DiningTable     0.172          0.859          1.982          0              270            0
  31  DiningTable     0.172          0.673          1.982          0              270            0
  32  Drawer          -0.309         1.052          3.610          0              270            0
  33  Drawer          -0.309         0.761          3.610          0              270            0
  34  Dresser         -0.265         0.007          3.609          0              270            0
  35  Drawer          -0.309         0.471          3.610          0              270            0
  36  Drawer          -0.309         0.181          3.610          0              270            0
  37  Sofa            -3.786         0.015          3.893          0              180            0
  38  RoomDecor       -5.815         0.010          4.406          0              0              0
  39  RoomDecor       -0.333         0.010          4.396          0              0              0
  40  RoomDecor       -0.178         0.010          -0.448         0              0              0
  41  RoomDecor       -5.805         0.010          -0.486         0              0              0
  42  Sofa            -2.683         0.011          -0.124         0              0              0
  43  ArmChair        -2.062         0.014          4.216          0              180            0
  44  CoffeeTable     -2.646         0.007          1.150          0              0              0
  45  Chair           -1.347         0.009          4.243          0              180            0
  46  NorthWall
  47  EastWall
  48  SouthWall
  49  WestWall

Plan:
STEP 1: Walk forward a few steps, then turn right to face the blue sofa.  | STEP 2: Pick up the keys that are lying on the sofa.  | STEP 3: Turn completely around and walk over to the floor lamp that is directly across from you on the other side of the room. | STEP 4: Turn the floor lamp on. | END