Task: take key chain to lamp, turn on lamp

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -3.0           0.900          -1.0           0              0              0
   1  TissueBox       1.466          0.479          0.594          0              180            0              37
   2  TissueBox       -0.501         0.070          -0.767         0              0              0              40
   3  Newspaper       2.800          0.321          1.583          0              90             0              36
   4  Newspaper       1.183          0.476          0.676          0              180            0              37
   5  Pencil          3.928          0.881          0.971          0              0              0              46
   6  Pencil          -0.501         0.071          -0.653         0              0              0              40
   7  Pen             2.114          0.070          -0.691         0              0              0              42
   8  KeyChain        1.891          0.478          0.186          0              180            0              37
   9  KeyChain        1.800          0.453          -0.729         0              0              0              38
  10  KeyChain        1.466          0.474          0.186          0              180            0              37
  11  CreditCard      1.592          0.452          -0.615         0              0              0              38
  12  RemoteControl   3.809          0.877          0.971          0              0              0              46
  13  Box             -0.29          1.074          -0.714         0              270            0              Floor|+00.00|
  14  Newspaper       -0.512         0.838          -0.721         0              0              0              41
  15  Laptop          1.805          0.47           0.499          0              0              0              37
  16  WateringCan     1.621          0.056          -0.697         0              0              0              42
  17  TissueBox       2.008          0.454          -0.767         0              0              0              38
  18  KeyChain        1.466          0.478          0.431          0              180            0              37
  19  Pen             3.838          0.072          -0.495         0              0              0              29
  20  Boots           4.005          0.001          1.707          1.563          246.167        0
  21  Pencil          3.852          0.769          1.151          0              0              0              47
  22  RemoteControl   1.380          0.337          1.746          0              0              0              45
  23  CreditCard      -0.343         0.322          1.812          0              91.372         0              44
  24  Pillow          0.651          0.395          1.708          0              0              0              27
  25  Statue          1.324          0.475          0.349          0              270            0              37
  26  Statue          -0.081         0.057          -0.692         0              0              0              40
  27  Sofa            1.174          0.0            1.865          0              0              0
  28  FloorLamp       3.608          0.000          2.163          0              0              0
  29  GarbageCan      3.833          -0.029         -0.495         0              0              0
  30  Television      1.897          1.281          -0.838         0              0              0
  31  Painting        4.070          1.950          0.848          90             270            0
  32  HousePlant      0.387          0.801          -0.725         0              90             0
  33  Window          0.023          2.072          2.484          90             180            0
  34  Window          1.570          2.072          2.484          90             180            0
  35  LightSwitch     -1.399         1.289          1.835          0              90             0
  36  ArmChair        2.655          0.000          1.858          0              180            0
  37  CoffeeTable     1.591          -0.000         0.446          0              180            0
  38  Shelf           1.905          0.588          -0.730         0              0              0
  39  TVStand         1.904          -0.000         -0.770         0              0              0
  40  Shelf           -0.289         0.200          -0.732         0              0              0
  41  TVStand         -0.290         -0.000         -0.772         0              0              0
  42  Shelf           1.905          0.200          -0.730         0              0              0
  43  Shelf           -0.289         0.588          -0.732         0              0              0
  44  ArmChair        -0.270         0.000          1.870          0              181.372        0
  45  Sofa            1.193          0.008          1.865          0              180            0
  46  SideTable       3.946          0.000          0.865          0              270            0
  47  Drawer          3.882          0.774          0.864          0              270            0
  48  NorthWall
  49  EastWall
  50  SouthWall
  51  WestWall

Plan:
STEP 1: Turn right walk into the other room  | STEP 2: Turn left then turn right then turn left walk to the green table. | STEP 3: Pick up the key chain on the right | STEP 4: Turn right then turn left then turn right then turn left go straight to the lamp turn it on put the keys on the lamp | END