Task: Pick up keys, 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           -1.0           0.900          2.0            0              180            0
   1  TissueBox       2.008          0.454          -0.691         0              0              0              35
   2  Newspaper       -0.501         0.067          -0.729         0              0              0              37
   3  Pencil          -0.290         0.460          -0.615         0              0              0              40
   4  Pen             1.592          0.458          -0.691         0              0              0              35
   5  Pen             3.901          0.770          1.151          0              90             0              44
   6  KeyChain        1.792          0.336          1.892          0              270            0              42
   7  CreditCard      1.800          0.452          -0.729         0              0              0              35
   8  CreditCard      -0.29          0.840          -0.916         0              0              0              38
   9  RemoteControl   1.380          0.337          1.673          0              0              0              42
  10  Box             -0.29          1.074          -0.714         0              270            0              Floor|+00.00|
  11  Newspaper       2.800          0.321          1.727          0              90             0              33
  12  Laptop          1.805          0.47           0.499          0              0              0              34
  13  WateringCan     1.621          0.056          -0.697         0              0              0              39
  14  TissueBox       1.183          0.475          0.349          0              180            0              34
  15  KeyChain        1.586          0.336          1.600          0              0              0              42
  16  Pen             -0.401         0.845          -0.867         0              0              0              38
  17  Boots           4.005          0.001          1.707          1.563          246.167        0
  18  Pencil          2.016          0.843          -0.623         0              0              0              36
  19  RemoteControl   1.174          0.337          1.746          0              0              0              42
  20  CreditCard      2.656          0.322          1.583          0              90             0              33
  21  Pillow          0.651          0.395          1.708          0              0              0              24
  22  Statue          -0.532         0.443          -0.738         0              92.244         0              40
  23  Statue          1.466          0.483          0.431          0              180            0              34
  24  Sofa            1.174          0.0            1.865          0              0              0
  25  FloorLamp       3.608          0.000          2.163          0              0              0
  26  GarbageCan      3.833          -0.029         -0.495         0              0              0
  27  Television      1.897          1.281          -0.838         0              0              0
  28  Painting        4.070          1.950          0.848          90             270            0
  29  HousePlant      0.387          0.801          -0.725         0              90             0
  30  Window          0.023          2.072          2.484          90             180            0
  31  Window          1.570          2.072          2.484          90             180            0
  32  LightSwitch     -1.399         1.289          1.835          0              90             0
  33  ArmChair        2.655          0.000          1.858          0              180            0
  34  CoffeeTable     1.591          -0.000         0.446          0              180            0
  35  Shelf           1.905          0.588          -0.730         0              0              0
  36  TVStand         1.904          -0.000         -0.770         0              0              0
  37  Shelf           -0.289         0.200          -0.732         0              0              0
  38  TVStand         -0.290         -0.000         -0.772         0              0              0
  39  Shelf           1.905          0.200          -0.730         0              0              0
  40  Shelf           -0.289         0.588          -0.732         0              0              0
  41  ArmChair        -0.270         0.000          1.870          0              181.372        0
  42  Sofa            1.193          0.008          1.865          0              180            0
  43  SideTable       3.946          0.000          0.865          0              270            0
  44  Drawer          3.882          0.774          0.864          0              270            0
  45  NorthWall
  46  EastWall
  47  SouthWall
  48  WestWall

Plan:
STEP 1: Go to yellow couch to the left | STEP 2: Pick up keys from far right couch cushion | STEP 3: Go to lamp to the left | STEP 4: Turn on the lamp | END