Task: Pick up keys and turn a lamp on.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -2.75          0.906          1.25           0              90             0
   1  Watch           -4.479         0.512          3.344          0              0              0              33
   2  Watch           -1.740         0.195          2.986          0              0              0              35
   3  Statue          -0.253         0.772          3.128          0              270            0              42
   4  KeyChain        -2.618         0.397          4.570          0              0              0              45
   5  KeyChain        -0.393         0.485          2.362          0              270            0              39
   6  CreditCard      -1.063         0.357          0.571          0              0              0              36
   7  RemoteControl   -0.465         0.184          2.311          0              270            0              41
   8  Laptop          -0.328         0.76           2.828          0              0              0              42
   9  Box             -0.782         0.479          0.500          0              180            0              36
  10  CreditCard      -0.876         0.357          0.641          0              0              0              36
  11  TissueBox       -1.993         0.199          2.360          0              342.647        0              35
  12  Laptop          -0.335         0.758          2.38           0              33.790         0              42
  13  Vase            -2.880         1.518          0.144          0              0              0
  14  RemoteControl   -1.740         0.196          2.643          0              0              0              35
  15  Pillow          -1.379         0.479          4.520          0              0              0              45
  16  KeyChain        -4.503         0.419          2.393          0              270            0              44
  17  Watch           -0.178         0.765          2.528          0              270            0              42
  18  Newspaper       -0.464         0.427          2.994          0              270            0              37
  19  Statue          -0.439         0.173          2.652          0              270            0              40
  20  Statue          -0.204         0.194          2.613          0              0              0              40
  21  Curtains        -1.030         2.113          0.0            0              0              0
  22  Curtains        -3.927         2.113          0.0            0              0              0
  23  HousePlant      -3.127         1.507          0.118          0              0              0
  24  Television      0.0            1.376          2.661          0              270            0
  25  GarbageCan      -0.227         0.005          4.778          0              0              0
  26  DeskLamp        -4.658         0.508          3.318          0              270            0
  27  Painting        -2.507         1.817          0.108          90             0              0
  28  FloorLamp       -4.596         0.006          0.399          0              65.211         0
  29  LightSwitch     -3.233         1.343          5.0            0              180            0
  30  Window          -1.011         1.391          0.029          90             180            0
  31  Window          -3.900         1.391          0.029          90             180            0
  32  Drawer          -4.433         0.473          3.344          0              90             0
  33  SideTable       -4.612         0.009          3.346          0              90             0
  34  Chair           -4.572         0.005          3.862          0              113.899        0
  35  CoffeeTable     -1.972         0.002          2.615          0              270            0
  36  ArmChair        -0.875         0.005          0.566          0              0              0
  37  Shelf           -0.340         0.480          3.046          0              270            0
  38  Shelf           -0.340         0.649          3.046          0              270            0
  39  Shelf           -0.340         0.603          2.312          0              270            0
  40  Shelf           -0.340         0.448          2.678          0              270            0
  41  Shelf           -0.340         0.308          2.312          0              270            0
  42  TVStand         -0.335         0.005          2.679          0              270            0
  43  Shelf           -0.340         0.279          3.046          0              270            0
  44  Sofa            -4.566         0.009          1.880          0              90             0
  45  Sofa            -2.124         0.009          4.558          0              180            0
  46  NorthWall
  47  SouthWall
  48  SouthWall

Plan:
STEP 1: Turn around and face the black couch with the keys on it. | STEP 2: Pick the keys up from the couch. | STEP 3: Turn left and go forward and then right to face the lamp in the corner. | STEP 4: Turn the lamp on. | END