Task: turn on floor lamp with keys in hand

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.75          0.998          -2.0           0              90             0
   1  Pen             -1.872         0.183          -2.955         0              225            0              20
   2  Pen             -4.094         0.884          -0.893         0              0              0              28
   3  KeyChain        -0.723         0.448          -2.391         0              180            0              34
   4  CreditCard      -0.126         0.861          -2.433         0              90             0              36
   5  Box             -2.863         1.03           -0.958         0              0              0              28
   6  Pillow          -0.731         0.605          0.897          0              0              0              33
   7  CreditCard      -3.429         0.881          -0.992         0              0              0              28
   8  Plate           -3.851         0.874          -1.011         0              0              0              28
   9  Laptop          -3.429         0.876          -1.287         0              0              0              28
  10  RemoteControl   -2.985         0.882          -1.385         0              0              0              28
  11  Vase            -0.959         0.459          -0.897         0              0              0              29
  12  Statue          0.257          0.965          -2.518         0              0              0              37
  13  KeyChain        -1.428         0.525          1.085          0              270            0              33
  14  Pen             -3.207         0.884          -1.090         0              0              0              28
  15  Curtains        -3.013         1.557          -3.082         0              0              0
  16  Television      -1.063         0.939          -2.439         0              0              0
  17  HousePlant      0.753          0.855          -2.467         0              215.129        0
  18  HousePlant      0.739          0.855          -1.159         0              310.776        0
  19  FloorLamp       -2.186         0.096          1.111          0              0              0
  20  GarbageCan      -1.946         0.097          -2.899         0              216.243        0
  21  Painting        -4.326         1.817          -1.223         90             270            0
  22  Window          0.010          1.087          0.001          90             270            0
  23  Window          -2.983         1.544          -3.220         90             180            0
  24  LightSwitch     -3.907         1.371          1.386          0              180            0
  25  ArmChair        0.662          0.103          -1.781         0              270            0
  26  Stool           0.765          0.108          -1.148         0              0              0
  27  Stool           0.765          0.108          -2.460         0              35.380         0
  28  DiningTable     -3.428         0.099          -1.188         0              0              0
  29  CoffeeTable     -1.090         0.097          -0.737         0              0              0
  30  Chair           -3.793         0.098          -0.841         0              164.999        0
  31  Chair           -3.073         0.098          -1.515         0              11.313         0
  32  Chair           -3.810         0.098          -1.549         0              352.857        0
  33  Sofa            -0.905         0.099          0.959          0              180            0
  34  CoffeeTable     -1.046         0.096          -2.473         0              180            0
  35  Chair           -3.068         0.098          -0.882         0              180            0
  36  Drawer          -0.031         0.872          -2.487         0              0              0
  37  SideTable       -0.030         0.097          -2.552         0              0              0
  38  NorthWall
  39  EastWall
  40  SouthWall
  41  WestWall

Plan:
STEP 1: walk to face left side of couch | STEP 2: pick up keys from couch | STEP 3: walk slightly left to face floor lamp | STEP 4: turn on floor lamp | END