Task: Hold a set of keys while turning on a lamp

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -5.25          0.901          0.25           0              270            0
   1  Bowl            -2.411         1.281          7.045          0              90             0              56
   2  Newspaper       -0.947         0.365          4.828          0              0              0              40
   3  Watch           -2.491         0.533          4.480          0              270            0              57
   4  Watch           -0.687         0.793          2.252          0              270            0              42
   5  CreditCard      -2.672         0.146          7.070          0              90             0              51
   6  RemoteControl   -5.822         1.282          4.349          0              0              0              54
   7  Box             -0.868         0.603          3.915          0              0              0              40
   8  Statue          -2.186         1.276          7.177          0              0              0              56
   9  Vase            -2.422         0.534          3.607          0              270            0              57
  10  Vase            -5.920         0.442          4.915          0              0              0              52
  11  Newspaper       -0.631         0.365          3.915          0              90             0              40
  12  Laptop          -2.447         0.525          4.055          0              9.597          0              57
  13  WateringCan     -2.228         0.137          7.107          0              0              0
  14  Vase            -5.424         0.534          6.815          0              45             0              58
  15  CreditCard      -2.277         0.879          7.173          0              90             0              49
  16  Vase            -5.903         1.270          4.988          0              0              0              54
  17  KeyChain        -0.433         0.794          5.726          0              270            0              41
  18  Vase            -5.920         0.442          4.371          0              0              0              52
  19  Vase            -5.910         0.443          3.804          0              0              0              52
  20  Bowl            -2.411         1.281          7.298          0              90             0              56
  21  Pillow          -0.756         0.542          4.793          0              284.202        0              40
  22  Vase            -5.867         1.271          3.712          0              0              0              54
  23  RemoteControl   -0.789         0.369          3.306          0              0              0              40
  24  Watch           -2.811         0.533          3.981          0              0              0              57
  25  Statue          -2.696         1.271          7.103          0              162.053        0              56
  26  Statue          -5.854         1.272          4.074          0              0              0              54
  27  Statue          -5.950         0.156          4.152          0              0              0              47
  28  Statue          -3.128         1.271          7.139          0              96.687         0              56
  29  Mirror          -1.308         0.022          0.197          0              0              0
  30  DeskLamp        -0.600         0.797          1.955          0              0              0
  31  DeskLamp        -0.593         0.797          6.022          0              60.096         0
  32  FloorLamp       -4.615         0.016          0.314          0              0              0
  33  Television      -5.637         0.998          6.949          0              135            0
  34  LightSwitch     -4.419         1.279          0.0            0              0              0
  35  Painting        0.0            1.661          4.451          90             270            0
  36  Painting        0.0            1.661          3.414          90             270            0
  37  HousePlant      -5.884         1.296          4.516          0              0              0
  38  GarbageCan      -5.689         -0.024         0.242          0              0              0
  39  Window          -6.287         1.672          2.178          90             270            0
  40  Sofa            -0.773         0.023          3.915          0              270            0
  41  SideTable       -0.586         0.014          5.979          0              270            0
  42  SideTable       -0.585         0.014          2.002          0              270            0
  43  Chair           -3.539         0.015          2.007          0              15.000         0
  44  Chair           -2.268         0.015          1.955          0              345.000        0
  45  Shelf           -0.585         0.248          2.002          0              270            0
  46  Shelf           -0.586         0.248          5.979          0              270            0
  47  Shelf           -5.948         0.161          4.339          0              270            0
  48  Shelf           -2.853         0.898          7.174          0              180            0
  49  Shelf           -2.853         0.467          7.174          0              180            0
  50  Shelf           -5.948         0.898          4.335          0              270            0
  51  Shelf           -2.858         0.161          7.174          0              180            0
  52  Shelf           -5.948         0.467          4.335          0              270            0
  53  ShelvingUnit    -5.946         0.012          4.347          0              270            0
  54  Shelf           -5.948         1.293          4.349          0              270            0
  55  ShelvingUnit    -2.865         0.012          7.177          0              180            0
  56  Shelf           -2.868         1.293          7.174          0              180            0
  57  CoffeeTable     -2.492         0.018          4.043          0              270            0
  58  CoffeeTable     -5.555         0.018          6.835          0              315            0
  59  NorthWall
  60  SouthWall
  61  SouthWall

Plan:
STEP 1: Move across the room to the round wooden table where the keys are | STEP 2: Pick up the keys that are sitting on top of the table | STEP 3: Carry the keys to the floor lamp that is to the right of the white door | STEP 4: Turn on the lamp while holding the keys | END