Task: Pick up the keys and turn on 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           -2.75          0.901          2.75           0              0              0
   1  Book            -1.499         0.712          3.649          0              0              0              30
   2  Book            -1.714         0.449          2.280          0              0              0              28
   3  KeyChain        -2.699         0.564          0.382          0              270            0              32
   4  KeyChain        -3.075         0.564          0.847          0              0              0              32
   5  KeyChain        -3.325         0.564          0.754          0              0              0              32
   6  RemoteControl   -2.824         0.564          0.382          0              0              0              32
   7  Box             -1.351         0.734          0.471          0              180            0              29
   8  Laptop          -2.824         0.561          0.568          0              0              0              32
   9  Book            -1.966         0.449          2.521          0              90             0              28
  10  Box             0.332          0.892          0.488          0              0              0              27
  11  Laptop          -1.852         0.544          0.740          0              0              0              29
  12  KeyChain        -0.601         0.546          0.830          0              0              0              29
  13  Pillow          -0.506         0.664          0.431          36.288         0              0              29
  14  Statue          0.858          0.710          0.327          0              0              0              27
  15  RemoteControl   -1.798         0.708          3.869          0              0              0              30
  16  CreditCard      -2.824         0.566          0.847          0              0              0              32
  17  Watch           -1.050         0.707          4.088          0              0              0              30
  18  Painting        -3.049         1.690          4.341          0              0              0
  19  Curtains        -3.973         2.254          1.453          0              0              0
  20  Painting        -1.096         1.773          -0.017         0              0              0
  21  LightSwitch     -0.129         1.407          4.348          0              180            0
  22  GarbageCan      -0.376         0.003          4.103          0              180            0
  23  Television      -1.504         1.189          4.126          0              180            0
  24  HousePlant      -2.015         0.447          2.357          0              0              0
  25  FloorLamp       -3.686         -0.001         4.013          0              0              0
  26  Window          -4.051         1.197          1.312          90             270            0
  27  SideTable       0.626          0.006          0.340          0              0              0
  28  CoffeeTable     -1.735         0.005          2.360          0              0              0
  29  Sofa            -1.135         -0.004         0.517          0              0              0
  30  TVStand         -1.566         0.004          3.869          0              0              0
  31  Shelf           0.622          0.238          0.340          0              0              0
  32  ArmChair        -3.063         0.000          0.517          0              0              0
  33  NorthWall
  34  EastWall
  35  SouthWall
  36  WestWall

Plan:
STEP 1: Turn around, turn left at the striped chair, turn right and face the left side of the couch.  | STEP 2: Pick up the keys from the front edge of the couch.  | STEP 3: Turn right, turn right at the curtains, walk to the lamp and look up at it.  | STEP 4: Turn on the lamp.  | END