Task: 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           -1.0           0.893          3.0            0              180            0
   1  Plate           -3.682         0.658          4.235          0              0              0              40
   2  Statue          -1.999         0.827          1.494          0              0              0              45
   3  Watch           -2.380         0.516          4.609          0              0              0              38
   4  Watch           -2.761         0.625          4.726          0              0              0              37
   5  KeyChain        -5.245         0.467          1.723          0              0              0              46
   6  CreditCard      -2.501         0.516          4.562          0              0              0              38
   7  CreditCard      -2.427         0.625          4.726          0              0              0              37
   8  RemoteControl   -5.326         0.465          3.128          0              0              0              46
   9  Box             -1.257         1.013          1.906          0              0              0              45
  10  Box             -5.245         0.674          2.426          0              0              0              46
  11  Laptop          -1.570         0.820          1.085          0              115.696        0              45
  12  Pillow          -3.655         0.560          0.608          0              0              0              41
  13  Box             -4.009         0.613          2.705          0              0              0              44
  14  KeyChain        -2.627         0.626          4.605          0              0              0              37
  15  Newspaper       -3.682         0.648          4.806          0              0              0              40
  16  CreditCard      -3.757         0.431          2.883          0              0              0              44
  17  RemoteControl   -2.682         0.517          4.609          0              90             0              38
  18  Laptop          -1.194         0.82           1.448          0              0              0              45
  19  Plate           -4.135         0.448          1.896          0              0              0              44
  20  Pillow          -4.161         0.542          0.575          0              0              0              41
  21  Statue          -3.893         0.647          4.349          0              0              0              40
  22  Vase            -3.833         0.434          2.225          0              0              0              44
  23  Watch           -1.584         0.822          1.532          0              37.188         0              45
  24  Television      -3.794         1.152          4.554          0              180            0
  25  GarbageCan      -0.264         -0.040         4.728          0              271.354        0
  26  FloorLamp       -5.663         -0.010         4.679          0              315            0
  27  HousePlant      -5.703         0.596          3.938          0              0              0
  28  LightSwitch     0.0            1.292          3.378          0              270            0
  29  Painting        -4.156         1.656          -0.002         90             180            0
  30  Painting        -1.623         1.565          -0.002         90             180            0
  31  Window          -6.040         1.550          2.102          90             270            0
  32  Window          -6.040         1.531          0.859          90             270            0
  33  Window          -6.040         1.531          4.236          90             270            0
  34  Chair           -0.667         -0.006         0.656          0              321.278        0
  35  Chair           -1.932         -0.006         2.413          0              154.294        0
  36  SideTable       -4.928         -0.002         0.272          0              27.993         0
  37  SideTable       -2.561         -0.002         4.623          0              180            0
  38  Drawer          -2.560         0.532          4.446          0              180            0
  39  SideTable       -5.676         -0.002         3.949          0              0              0
  40  SideTable       -3.793         0.013          4.463          0              0              0
  41  Sofa            -3.540         -0.020         0.460          0              0              0
  42  Chair           -5.146         -0.001         0.817          0              53.761         0
  43  Chair           -0.354         -0.006         1.654          0              261.279        0
  44  CoffeeTable     -4.003         -0.007         2.454          0              270            0
  45  DiningTable     -1.395         -0.006         1.447          0              0              0
  46  Sofa            -5.470         0.007          2.504          0              90             0
  47  NorthWall
  48  EastWall
  49  SouthWall
  50  WestWall

Plan:
STEP 1: Turn around and go to the small table by the wall.  | STEP 2: Pick up the keys from the table.  | STEP 3: Turn left and head to the window. | STEP 4: Turn on the lamp. | END