Task: Turn on the lamp in the office.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           1.75           0.916          -1.5           0              0              0
   1  Newspaper       -0.145         0.418          2.419          0              0              0              65
   2  Newspaper       0.158          0.916          2.431          0              0              0              61
   3  CellPhone       -0.046         0.413          1.997          0              0              0              64
   4  CellPhone       3.103          0.083          1.449          0              180            0              41
   5  CreditCard      -0.204         0.906          1.703          0              0              0              61
   6  RemoteControl   -0.096         0.161          1.944          0              0              0              68
   7  RemoteControl   -0.096         0.663          1.944          0              0              0              58
   8  Pillow          -2.812         0.623          1.187          0              270            0              56
   9  Book            -2.885         0.563          1.806          0              270            0              56
  10  Box             -0.170         0.730          -2.139         0              0              0              39
  11  Statue          3.121          0.595          -0.441         0              180            0              47
  12  CreditCard      -0.113         0.906          2.188          0              0              0              61
  13  Laptop          -2.780         0.365          -1.874         0              0              0              38
  14  WateringCan     2.893          0.014          -1.916         0              328.832        0
  15  Newspaper       -0.113         0.912          0.974          0              0              0              61
  16  Vase            -2.168         1.195          -2.183         0              0              0
  17  CellPhone       -0.204         0.910          1.217          0              0              0              61
  18  RemoteControl   -0.204         0.910          2.188          0              0              0              61
  19  Vase            -1.046         1.195          -2.151         0              0              0
  20  Pillow          -2.893         0.616          0.818          0              0              0              56
  21  KeyChain        -3.075         0.369          -1.981         0              119.999        0              38
  22  Cabinet         0.333          0.514          -2.015         0              0              0
  23  DeskLamp        3.143          0.591          1.457          0              270            0
  24  LightSwitch     -0.927         1.316          2.846          0              180            0
  25  HousePlant      0.491          0.874          -1.581         0              0              0
  26  Television      0.069          1.406          1.698          0              270            0
  27  GarbageCan      3.164          0.026          0.891          0              0              0
  28  Painting        -1.561         1.408          -2.318         90             180            0
  29  Painting        3.367          1.789          -0.949         90             270            0
  30  Painting        -3.488         1.386          -0.507         90             270            0
  31  FloorLamp       3.103          0.025          -2.341         0              135            0
  32  Window          1.133          1.218          -2.740         90             0              0
  33  Window          -3.368         1.180          -1.539         90             90             0
  34  Window          2.898          1.218          -2.740         90             0              0
  35  Window          2.006          1.218          -2.740         90             0              0
  36  Window          -0.193         1.157          -2.563         90             0              0
  37  Window          -2.970         1.157          -2.563         90             0              0
  38  ArmChair        -2.859         0.026          -2.036         0              29.994         0
  39  SideTable       -0.170         0.027          -2.279         0              0              0
  40  Drawer          -0.173         0.465          -2.135         0              0              0
  41  Drawer          3.104          0.167          1.400          0              270            0
  42  SideTable       3.163          0.032          1.400          0              270            0
  43  Drawer          3.103          0.418          1.401          0              270            0
  44  SideTable       3.163          0.032          0.364          0              270            0
  45  Drawer          -3.241         0.418          -0.490         0              90             0
  46  Drawer          3.104          0.167          -0.574         0              270            0
  47  SideTable       3.163          0.032          -0.574         0              270            0
  48  Drawer          3.104          0.167          0.364          0              270            0
  49  Drawer          3.104          0.419          -0.574         0              270            0
  50  Drawer          -3.241         0.167          -0.489         0              90             0
  51  SideTable       -3.300         0.032          -0.489         0              90             0
  52  Drawer          3.104          0.419          0.364          0              270            0
  53  Chair           1.049          0.031          -2.190         0              29.997         0
  54  DogBed          2.739          0.032          2.260          0              45             0
  55  Chair           2.037          0.031          -2.232         0              350.485        0
  56  Sofa            -2.957         0.032          1.393          0              90             0
  57  Drawer          -0.189         0.232          0.954          0              270            0
  58  Drawer          -0.415         0.854          1.921          0              270            0
  59  Drawer          -0.415         0.351          1.414          0              270            0
  60  Drawer          -0.415         0.603          1.414          0              270            0
  61  Dresser         -0.052         0.028          1.667          0              270            0
  62  Drawer          -0.190         0.484          0.954          0              270            0
  63  Drawer          -0.190         0.736          0.954          0              270            0
  64  Drawer          -0.415         0.603          1.921          0              270            0
  65  Drawer          -0.415         0.603          2.384          0              270            0
  66  Drawer          -0.415         0.351          2.384          0              270            0
  67  Drawer          -0.415         0.854          2.384          0              270            0
  68  Drawer          -0.415         0.351          1.921          0              270            0
  69  Drawer          -0.415         0.854          1.414          0              270            0
  70  Stool           3.135          0.029          -1.625         0              330.001        0
  71  Chair           1.631          0.029          2.210          0              161.562        0
  72  NorthWall
  73  EastWall
  74  SouthWall
  75  WestWall

Plan:
STEP 1: Turn towards the white column on your left and go through the entry way, and across the living room to the chair in the left corner of the room.  | STEP 2: Pick up the keys in the back, right corner of the chair.  | STEP 3: Turn around and go across the living room, through the entry way, into the office, and across the office, then turn right and go to the lamp in the left corner of the room.  | STEP 4: Turn on the lamp in the room.  | END