Task: To get keys off the dresser and turn on the lamp on the dresser.

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          1.75           0              180            0
   1  Bowl            1.170          0.504          -1.983         0              270            0              22
   2  Pencil          1.226          0.388          -0.531         0              270            0              31
   3  KeyChain        -1.332         0.698          -1.900         0              180            0              44
   4  Book            -1.203         0.610          -0.223         0              0              0              21
   5  Book            0.623          0.569          -2.471         0              350.999        0              28
   6  KeyChain        1.159          1.412          -0.238         0              270            0              30
   7  BaseballBat     1.436          0.636          1.985          21.882         0              0
   8  BasketBall      1.270          0.12           -1.290         0              345.557        0
   9  Pencil          -1.457         0.704          -2.191         0              0              0              44
  10  CellPhone       1.226          0.384          0.046          0              270            0              31
  11  CreditCard      -1.400         0.100          -1.832         0              0              0              43
  12  Laptop          -1.082         0.609          0.337          0              0              0              21
  13  Pillow          -1.170         0.684          -0.990         0              0              0              21
  14  Boots           1.288          0.000          -0.961         0              177.912        0
  15  Pen             -1.332         0.705          -2.191         0              0              0              44
  16  AlarmClock      1.226          1.410          -0.671         0              270            0              32
  17  CD              1.172          0.237          -1.929         0              0              0              19
  18  Bowl            -1.519         0.696          -1.755         0              0              0              44
  19  Drawer          0.980          0.271          -1.963         0              0              0
  20  Drawer          0.980          0.139          -1.963         0              0              0
  21  Bed             -1.209         0.016          -0.266         0              180            1.624
  22  Shelf           1.220          0.859          -1.802         0              270            0
  23  Drawer          0.980          0.404          -1.963         0              0              0
  24  Drawer          0.980          0.272          -1.639         0              0              0
  25  Mirror          0.740          1.491          2.099          0              0              0
  26  Drawer          0.980          0.139          -1.639         0              0              0
  27  Drawer          0.980          0.404          -1.639         0              0              0
  28  Chair           0.280          -0.001         -2.264         0              180            0
  29  GarbageCan      -1.542         0.013          1.919          2.249          116.925        355.175
  30  Shelf           1.259          0.903          -0.269         0              270            0
  31  Shelf           1.259          0.375          -0.263         0              270            0
  32  Shelf           1.259          1.402          -0.259         0              270            0
  33  Shelf           -1.577         1.513          -2.025         0              270            0
  34  LightSwitch     -0.755         1.176          2.099          0              180            0
  35  DeskLamp        -1.489         0.669          -2.419         0              0              0
  36  Window          0.243          0.963          -2.678         90             0              0
  37  Window          -0.361         0.963          -2.679         90             0              0
  38  Window          -0.962         0.963          -2.678         90             0              0
  39  Desk            0.445          0.001          -2.430         0              0              0
  40  Blinds          -0.349         2.186          -2.685         0              0              0
  41  Blinds          0.250          2.186          -2.685         0              0              0
  42  Blinds          -0.952         2.186          -2.685         0              0              0
  43  Drawer          -1.314         0.163          -2.051         0              90             0
  44  SideTable       -1.444         -0.001         -2.051         0              90             0
  45  Drawer          -1.314         0.455          -2.051         0              90             0
  46  NorthWall
  47  EastWall
  48  SouthWall
  49  WestWall

Plan:
STEP 1: Go forward and take a right at the shelves and take a left when you get to the bed then go forward and take a right at the desk and go to the dresser. | STEP 2: Pick up the keys from the right of the pen on top of the dresser. | STEP 3: Take a left and go forward to the end of the dresser and face the dresser. | STEP 4: Turn on the lamp to the left of the pen on top of the dresser. | END