Task: turn a lamp on and pick up the keys on the table

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.25          0.937          -0.75          0              0              0
   1  Mug             0.573          0.075          -2.825         0              0              0              33
   2  CD              -2.745         0.082          -3.055         0              0              0              30
   3  CD              1.828          0.093          -3.049         0              90             0              54
   4  CellPhone       1.828          0.097          -3.049         0              90             0              54
   5  CellPhone       -3.265         0.194          3.195          0              149.999        0              55
   6  Pen             1.537          0.552          2.440          0              270            0              56
   7  Pencil          -1.227         1.119          -3.073         0              0              0              36
   8  Pencil          -1.337         0.587          -2.830         0              0              0              32
   9  Book            0.104          0.832          1.456          0              0              0              29
  10  KeyChain        -1.227         1.117          -2.902         0              0              0              36
  11  KeyChain        1.681          0.554          2.342          0              90             0              56
  12  KeyChain        1.657          0.553          2.181          0              180            0              56
  13  RemoteControl   -0.602         1.118          -3.158         0              0              0              36
  14  AlarmClock      -2.164         1.118          -3.158         0              0              0              36
  15  Book            -1.337         0.082          -2.882         0              0              0              34
  16  AlarmClock      1.536          0.547          2.299          0              238.148        0              56
  17  CellPhone       -0.098         0.587          -2.830         0              0              0              31
  18  Pillow          1.243          0.940          1.215          0              0              0              29
  19  Pillow          1.243          0.940          0.255          0              0              0              29
  20  TeddyBear       1.868          0.036          -0.561         0              59.999         0              Floor|-00.06|
  21  CreditCard      -0.893         0.084          -2.726         0              0              0              34
  22  KeyChain        -1.851         1.117          -2.732         0              0              0              36
  23  Pencil          -3.292         0.377          -2.777         0              4.809          0              38
  24  Laptop          0.104          0.830          0.015          0              0              0              29
  25  RemoteControl   -1.539         1.118          -2.902         0              0              0              36
  26  CD              -0.543         0.082          -2.934         0              0              0              35
  27  Pen             -1.16          0.590          -2.882         0              0              0              32
  28  Mug             0.573          0.075          -3.077         0              0              0              33
  29  Bed             0.967          0.049          0.667          0              90             0
  30  Cabinet         -3.0           1.497          -2.643         0              0              0
  31  Drawer          -0.365         0.785          -2.848         0              0              0
  32  Drawer          -1.159         0.785          -2.848         0              0              0
  33  Cabinet         2.064          1.497          -2.643         0              0              0
  34  Drawer          -1.159         0.285          -2.848         0              0              0
  35  Drawer          -0.365         0.285          -2.848         0              0              0
  36  Desk            -1.271         1.169          -2.987         0              0              0
  37  LightSwitch     -0.159         1.281          3.999          0              180            0
  38  GarbageCan      -3.338         0.022          -2.797         0              4.809          0
  39  HousePlant      -0.195         1.105          -3.084         0              0              0
  40  DeskLamp        1.863          0.581          2.431          0              0              0
  41  Mirror          -1.603         1.447          3.999          0              0              0
  42  Television      -3.883         1.771          2.122          0              90             0
  43  Window          -1.952         2.148          -3.302         90             180            0
  44  Window          -0.467         2.148          -3.302         90             180            0
  45  Window          -3.894         1.751          0.582          90             270            0
  46  Window          -3.894         1.751          -0.675         90             270            0
  47  LaundryHamper   1.831          0.058          3.689          0              354.434        1.354
  48  ArmChair        -0.948         0.051          3.583          0              175.988        0
  49  ArmChair        -2.172         0.051          3.598          0              180            0
  50  Blinds          -0.477         2.785          -3.253         0              0              0
  51  Blinds          -1.957         2.785          -3.253         0              0              0
  52  Blinds          -3.799         2.506          0.602          0              90             0
  53  Blinds          -3.799         2.506          -0.647         0              90             0
  54  Safe            1.673          0.054          -3.004         0              0              0
  55  ArmChair        -3.349         0.051          3.375          0              150.096        0
  56  SideTable       1.775          0.048          2.377          0              0              0
  57  Chair           -2.002         0.050          -2.532         0              165.000        0
  58  NorthWall
  59  EastWall
  60  SouthWall
  61  WestWall

Plan:
STEP 1: turn left then turn right and walk straight towards the chair then turn right towards the wall and turn right towards the table | STEP 2: turn the lamp on that is on the table | STEP 3: pick up the keys on the table | END