Task: Take the keys on 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           0.25           0.900          1.0            0              90             0
   1  Bowl            1.226          0.383          -0.386         0              270            0              42
   2  Bowl            1.260          1.410          0.195          0              270            0              43
   3  CD              -1.400         0.395          -2.259         0              0              0              56
   4  CD              1.120          0.370          -1.605         0              0              0              38
   5  CellPhone       -0.842         0.611          0.337          0              0              0              32
   6  CellPhone       -0.842         0.611          0.618          0              0              0              32
   7  Pencil          -1.332         0.704          -1.755         0              0              0              55
   8  Pencil          -1.611         1.527          -2.148         0              270            0              44
   9  KeyChain        -1.519         0.698          -2.046         0              0              0              55
  10  KeyChain        -1.334         0.397          -2.046         0              0              0              56
  11  KeyChain        1.293          1.412          -0.382         0              270            0              41
  12  CreditCard      1.226          0.383          -0.531         0              270            0              42
  13  CreditCard      1.224          0.238          -1.570         0              0              0              35
  14  Book            -1.323         0.610          0.618          0              0              0              32
  15  Pillow          -1.323         0.713          0.057          0              0              0              32
  16  Book            0.623          0.569          -2.471         0              350.999        0              39
  17  KeyChain        1.327          0.384          -0.675         0              0              0              42
  18  BaseballBat     1.436          0.636          1.985          21.882         0              0
  19  BasketBall      1.270          0.12           -1.290         0              345.557        0
  20  Pencil          -1.394         0.701          -2.191         0              0              0              55
  21  CellPhone       -1.519         0.697          -1.755         0              0              0              55
  22  CreditCard      1.068          0.105          -1.894         0              0              0              31
  23  Laptop          0.076          0.569          -2.456         0              0              0              50
  24  Pillow          -1.170         0.684          -0.990         0              0              0              32
  25  Boots           1.288          0.000          -0.961         0              177.912        0
  26  Pen             1.293          1.416          -0.238         0              270            0              43
  27  AlarmClock      1.192          0.383          0.191          0              270            0              42
  28  CD              -1.269         0.699          -2.481         0              0              0              55
  29  Bowl            1.260          0.383          -0.097         0              270            0              42
  30  Drawer          0.980          0.271          -1.963         0              0              0
  31  Drawer          0.980          0.139          -1.963         0              0              0
  32  Bed             -1.209         0.016          -0.266         0              180            1.624
  33  Shelf           1.220          0.859          -1.802         0              270            0
  34  Drawer          0.980          0.404          -1.963         0              0              0
  35  Drawer          0.980          0.272          -1.639         0              0              0
  36  Mirror          0.740          1.491          2.099          0              0              0
  37  Drawer          0.980          0.139          -1.639         0              0              0
  38  Drawer          0.980          0.404          -1.639         0              0              0
  39  Chair           0.280          -0.001         -2.264         0              180            0
  40  GarbageCan      -1.542         0.013          1.919          2.249          116.925        355.175
  41  Shelf           1.259          0.903          -0.269         0              270            0
  42  Shelf           1.259          0.375          -0.263         0              270            0
  43  Shelf           1.259          1.402          -0.259         0              270            0
  44  Shelf           -1.577         1.513          -2.025         0              270            0
  45  LightSwitch     -0.755         1.176          2.099          0              180            0
  46  DeskLamp        -1.489         0.669          -2.419         0              0              0
  47  Window          0.243          0.963          -2.678         90             0              0
  48  Window          -0.361         0.963          -2.679         90             0              0
  49  Window          -0.962         0.963          -2.678         90             0              0
  50  Desk            0.445          0.001          -2.430         0              0              0
  51  Blinds          -0.349         2.186          -2.685         0              0              0
  52  Blinds          0.250          2.186          -2.685         0              0              0
  53  Blinds          -0.952         2.186          -2.685         0              0              0
  54  Drawer          -1.314         0.163          -2.051         0              90             0
  55  SideTable       -1.444         -0.001         -2.051         0              90             0
  56  Drawer          -1.314         0.455          -2.051         0              90             0
  57  NorthWall
  58  EastWall
  59  SouthWall
  60  WestWall

Plan:
STEP 1: Turn around and walk across the room, then turn right and walk towards the desk, and then turn right again and walk towards the dresser. | STEP 2: Pick up the keys on the dresser. | STEP 3: Turn left and walk towards the door, then turn right towards the dresser. | STEP 4: Turn on the lamp. | END