Task: turn on a lamp while holding a pair of keys

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.5            0.907          1.25           0              180            0
   1  Bowl            -4.842         0.756          -0.008         0              0              0              45
   2  Newspaper       0.578          0.558          2.153          0              0              0              36
   3  Vase            0.492          0.554          2.454          0              0              0              36
   4  Pencil          0.664          0.555          2.454          0              0              0              36
   5  Pencil          0.319          0.555          2.153          0              0              0              36
   6  Book            -4.295         0.755          -0.626         0              0              0              51
   7  CellPhone       -1.320         0.450          1.849          0              0              0              52
   8  CellPhone       -1.340         0.881          0.101          0              90             0              53
   9  RemoteControl   -1.204         0.452          2.795          0              0              0              52
  10  Book            -0.970         0.455          1.849          0              0              0              52
  11  Box             0.957          0.286          6.189          0              327.955        0              44
  12  Pillow          0.438          0.581          5.162          321.968        0              0              44
  13  Bowl            -3.747         0.756          -0.379         0              0              0              51
  14  WateringCan     -0.816         0.005          0.189          0              0              0
  15  TissueBox       0.233          0.553          2.304          0              0              0              36
  16  Newspaper       -1.437         0.456          3.031          0              0              0              52
  17  CreditCard      -0.970         0.453          3.031          0              0              0              52
  18  KeyChain        0.386          0.424          4.434          0              90             0              43
  19  Boots           -6.309         0.006          1.252          0              92.842         0
  20  Pencil          -4.842         0.758          -0.131         0              0              0              51
  21  Laptop          0.379          0.541          2.834          0              301.058        0              36
  22  Vase            -4.295         0.757          -0.255         0              0              0              51
  23  RemoteControl   0.585          0.042          2.475          0              0              0              41
  24  Watch           -0.936         0.769          0.254          0              90             0              54
  25  CellPhone       0.419          0.431          5.171          0              0              0              44
  26  Plate           -4.659         0.758          -0.626         0              0              0              49
  27  Painting        -6.5           1.759          -0.341         0              0              0
  28  Painting        0.704          1.778          0.782          0              0              0
  29  Television      1.5            1.690          2.562          0              270            0
  30  FloorLamp       1.111          0.007          6.805          0              0              0
  31  GarbageCan      -6.128         -0.003         2.800          0              0              0
  32  LightSwitch     -6.5           1.498          1.345          0              90             0
  33  HousePlant      -0.753         0.874          0.209          0              0              0
  34  Window          1.496          1.712          4.454          90             90             0
  35  Window          -4.210         1.577          -1.980         90             180            0
  36  CoffeeTable     0.405          0.008          2.605          0              270            0
  37  Drawer          0.597          0.234          2.604          0              270            0
  38  Drawer          0.214          0.393          2.604          0              270            0
  39  Drawer          0.214          0.234          2.609          0              270            0
  40  Drawer          0.214          0.075          2.604          0              270            0
  41  Drawer          0.597          0.075          2.604          0              270            0
  42  Drawer          0.597          0.393          2.604          0              270            0
  43  Ottoman         0.493          0.006          4.309          0              0              0
  44  ArmChair        0.420          0.014          5.129          0              180            0
  45  Chair           -4.664         0.008          0.164          0              180            0
  46  Chair           -3.424         0.008          -0.321         0              270            0
  47  Chair           -4.988         0.008          -0.401         0              90             0
  48  Chair           -3.904         0.008          -0.827         0              0              0
  49  Chair           -4.570         0.008          -0.831         0              0              0
  50  Chair           -3.996         0.008          0.091          0              180            0
  51  DiningTable     -4.295         0.006          -0.378         0              0              0
  52  Sofa            -1.527         0.013          2.559          0              90             0
  53  SideTable       -1.030         0.006          0.160          0              0              0
  54  Drawer          -1.030         0.780          0.225          0              0              0
  55  NorthWall
  56  EastWall
  57  SouthWall
  58  WestWall

Plan:
STEP 1: turn around and walk over to the foot rest in front of the chair at the near end of the room on the right | STEP 2: grab the keys off of the foot rest | STEP 3: move around the chair in front of you to end up at the other side, but then face the wall with the lamp on it | STEP 4: turn on the lamp there | END