Task: Pick up keys and turn a lamp off.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -3.75          0.901          1.5            0              180            0
   1  KeyChain        -3.475         0.377          6.723          0              0              0              27
   2  KeyChain        -4.191         0.484          3.549          0              0              0              25
   3  KeyChain        -3.475         0.066          6.723          0              0              0              30
   4  RemoteControl   -1.310         0.758          0.993          0              0              0              41
   5  Box             -1.732         0.867          0.993          0              90             0              41
   6  Pillow          -4.300         0.548          5.556          0              0              0              32
   7  Box             -1.607         0.151          6.854          0              0              0              38
   8  Statue          -1.310         0.761          1.695          0              0              0              41
   9  Watch           -1.451         0.756          0.993          0              0              0              41
  10  WateringCan     -0.208         -0.000         3.225          0              63.928         0
  11  Laptop          -2.005         0.839          6.765          0              0              0              38
  12  CreditCard      -3.416         0.067          6.748          0              0              0              30
  13  KeyChain        -3.664         0.397          3.811          0              0              0              40
  14  Pillow          -4.335         0.465          4.398          0              0              0              32
  15  RemoteControl   -4.300         0.480          5.787          0              0              0              32
  16  Curtains        -0.037         2.148          0.999          0              0              0
  17  Painting        -0.016         2.061          5.380          0              0              0
  18  GarbageCan      -0.256         -0.010         6.799          0              0              0
  19  FloorLamp       -4.721         -0.001         3.687          0              0              0
  20  Television      -3.192         1.184          6.767          0              180            0
  21  HousePlant      -0.173         0.610          3.994          0              0              0
  22  LightSwitch     -3.483         1.470          0.001          0              0              0
  23  DeskLamp        -0.258         0.611          3.312          0              0              0
  24  Window          -0.008         1.340          1.725          90             270            0
  25  SideTable       -4.190         0.000          3.587          0              0              0
  26  Drawer          -2.925         0.475          6.717          0              180            0
  27  Drawer          -3.476         0.475          6.717          0              180            0
  28  Dresser         -3.201         -0.001         6.791          0              180            0
  29  Drawer          -2.925         0.165          6.719          0              180            0
  30  Drawer          -3.476         0.165          6.719          0              180            0
  31  ArmChair        -2.448         0.002          3.501          0              0              0
  32  Sofa            -4.425         0.014          5.062          0              90             0
  33  Ottoman         -2.374         0.000          4.483          0              0              0
  34  Chair           -2.151         0.004          1.284          0              90             0
  35  Chair           -1.549         0.004          1.780          0              195.000        0
  36  Chair           -1.626         0.004          0.778          0              10.166         0
  37  Chair           -1.076         0.004          1.292          0              265.171        0
  38  SideTable       -2.071         0.000          6.699          0              0              0
  39  SideTable       -0.244         -0.000         3.524          0              270            0
  40  ArmChair        -3.545         0.005          3.579          0              0              0
  41  DiningTable     -1.592         0.006          1.274          0              0              0
  42  NorthWall
  43  SouthWall
  44  SouthWall

Plan:
STEP 1: Turn around and cross the room to face the small table to the right of the floor lamp. | STEP 2: Pick the keys up from the table. | STEP 3: Move to the left and face the lamp. | STEP 4: Turn the lamp near the wall off. | END