Task: To pick up the key chain to look at under 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           9.25           0.902          0.5            0              270            0
   1  Statue          14.135         0.761          1.825          0              0              0              36
   2  Statue          14.233         0.761          0.519          0              0              0              36
   3  KeyChain        8.395          0.397          -0.203         0              90             0              54
   4  KeyChain        10.651         0.591          0.678          0              0              0              43
   5  KeyChain        14.092         0.348          1.105          0              0              0              35
   6  Book            10.845         0.591          0.771          0              0              0              43
   7  Box             14.526         1.001          2.086          0              0              0              36
   8  Laptop          11.448         0.454          3.155          0              0              0              44
   9  Laptop          9.402          0.427          3.216          0              0              0              44
  10  Book            14.135         0.752          1.303          0              0              0              36
  11  Box             10.807         0.706          3.230          0              0              0              Floor|+09.92|
  12  CreditCard      14.538         0.518          -0.776         0              0              0              46
  13  KeyChain        14.526         0.755          1.825          0              270            0              36
  14  Pillow          12.048         0.52           3.228          0              0              0              51
  15  Statue          14.623         0.758          1.564          0              0              0              36
  16  Laptop          11.232         0.588          1.049          0              0              0              43
  17  RemoteControl   14.428         0.757          0.519          0              0              0              36
  18  Watch           14.135         0.752          1.042          0              0              0              36
  19  FloorLamp       7.864          0.006          3.396          0              0              0
  20  GarbageCan      7.785          -0.027         -1.145         0              0              0
  21  Painting        7.492          1.835          -0.495         90             270            0
  22  Painting        7.492          1.835          2.792          90             270            0
  23  Television      14.459         1.218          0.925          358.945        270            0
  24  LightSwitch     12.979         1.399          3.767          0              180            0
  25  Painting        7.492          1.779          1.116          90             270            0
  26  Painting        14.763         1.753          1.126          90             270            0
  27  HousePlant      11.374         0.467          -1.143         0              0              0
  28  Window          12.029         1.687          -1.595         90             180            0
  29  Window          10.227         1.687          -1.594         90             180            0
  30  Drawer          14.183         0.374          0.556          0              270            0
  31  Drawer          14.183         0.580          1.069          0              270            0
  32  Drawer          14.183         0.580          2.095          0              270            0
  33  Drawer          14.183         0.374          1.582          0              270            0
  34  Drawer          14.183         0.169          1.069          0              270            0
  35  Drawer          14.183         0.374          1.069          0              270            0
  36  Dresser         14.330         0.002          1.323          0              270            0
  37  Drawer          14.183         0.169          2.095          0              270            0
  38  Drawer          14.183         0.374          2.095          0              270            0
  39  Drawer          14.183         0.580          0.556          0              270            0
  40  Drawer          14.183         0.169          0.556          0              270            0
  41  Drawer          14.183         0.169          1.582          0              270            0
  42  Drawer          14.183         0.580          1.582          0              270            0
  43  CoffeeTable     10.821         -0.011         0.928          0              0              0
  44  ArmChair        9.499          0.001          3.265          0              180            0
  45  SideTable       11.377         0.001          -1.160         0              90             0
  46  SideTable       14.615         -0.001         -0.776         0              270            0
  47  SideTable       14.331         0.003          0.069          0              0              0
  48  SideTable       14.331         0.003          2.585          0              0              0
  49  SideTable       12.308         0.001          -1.154         0              0              0
  50  Chair           8.154          0.006          1.499          0              90             0
  51  Sofa            11.450         0.002          3.211          0              180            0
  52  Shelf           10.794         0.231          0.928          0              0              0
  53  ArmChair        8.231          0.006          0.769          0              90             0
  54  ArmChair        8.224          0.006          -0.082         0              90             0
  55  NorthWall
  56  EastWall
  57  SouthWall
  58  WestWall

Plan:
STEP 1: Turn left to take a step towards the wall and then go to the right. Stand in front of the chair. | STEP 2: Pick up the key chain from the chair. | STEP 3: Turn right and walk past the chairs and turn left to look at the wall. Walk straight ahead and make a right. Walk straight and raise the keys up to the lamp shade. | STEP 4: Turn the lamp on. | END