Task: To look at the keys in the light.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -4.5           0.893          1.5            0              270            0
   1  Statue          -2.561         0.631          4.605          0              0              0              38
   2  Newspaper       -1.225         0.828          1.589          0              115.696        0              46
   3  Vase            -3.833         0.434          2.390          0              0              0              45
   4  Watch           -4.060         0.432          2.554          0              0              0              45
   5  Watch           -2.360         0.625          4.545          0              0              0              38
   6  KeyChain        -2.682         0.517          4.633          0              0              0              39
   7  KeyChain        -1.256         0.823          0.844          0              90             0              46
   8  KeyChain        -0.970         0.823          1.469          0              16.180         0              46
   9  CreditCard      -0.830         0.821          1.193          0              37.188         0              46
  10  RemoteControl   -5.245         0.484          2.426          0              0              0              47
  11  RemoteControl   -3.984         0.433          2.225          0              0              0              45
  12  Box             -3.909         0.623          2.061          0              0              0              45
  13  Laptop          -3.788         0.639          4.235          0              0              0              41
  14  Box             -5.326         0.666          2.660          0              180            0              47
  15  KeyChain        -2.501         0.517          4.633          0              270            0              39
  16  Newspaper       -3.682         0.648          4.691          0              0              0              41
  17  CreditCard      -3.433         0.442          0.449          0              0              0              42
  18  RemoteControl   -3.471         0.642          4.463          0              0              0              41
  19  Laptop          -1.306         0.820          1.267          0              63.501         0              46
  20  Plate           -0.942         0.839          1.046          0              37.188         0              46
  21  Pillow          -4.161         0.542          0.575          0              0              0              42
  22  Statue          -3.833         0.437          2.719          0              0              0              45
  23  Vase            -1.426         0.807          1.495          0              0              0              46
  24  Watch           -1.900         0.822          1.113          0              142.099        0              46
  25  Television      -3.794         1.152          4.554          0              180            0
  26  GarbageCan      -0.264         -0.040         4.728          0              271.354        0
  27  FloorLamp       -5.663         -0.010         4.679          0              315            0
  28  HousePlant      -5.703         0.596          3.938          0              0              0
  29  LightSwitch     0.0            1.292          3.378          0              270            0
  30  Painting        -4.156         1.656          -0.002         90             180            0
  31  Painting        -1.623         1.565          -0.002         90             180            0
  32  Window          -6.040         1.550          2.102          90             270            0
  33  Window          -6.040         1.531          0.859          90             270            0
  34  Window          -6.040         1.531          4.236          90             270            0
  35  Chair           -0.667         -0.006         0.656          0              321.278        0
  36  Chair           -1.932         -0.006         2.413          0              154.294        0
  37  SideTable       -4.928         -0.002         0.272          0              27.993         0
  38  SideTable       -2.561         -0.002         4.623          0              180            0
  39  Drawer          -2.560         0.532          4.446          0              180            0
  40  SideTable       -5.676         -0.002         3.949          0              0              0
  41  SideTable       -3.793         0.013          4.463          0              0              0
  42  Sofa            -3.540         -0.020         0.460          0              0              0
  43  Chair           -5.146         -0.001         0.817          0              53.761         0
  44  Chair           -0.354         -0.006         1.654          0              261.279        0
  45  CoffeeTable     -4.003         -0.007         2.454          0              270            0
  46  DiningTable     -1.395         -0.006         1.447          0              0              0
  47  Sofa            -5.470         0.007          2.504          0              90             0
  48  NorthWall
  49  EastWall
  50  SouthWall
  51  WestWall

Plan:
STEP 1: Turn around and walk halfway across the room, then turn right and walk across the room before turning right to walk to the table.  | STEP 2: Take the keys that are next to the newspaper off the table.  | STEP 3: Turn to the right and walk across the room to the trash bin, then turn left and walk across the room, then turn right to face the lamp.  | STEP 4: Turn the lamp on.  | END