Task: turn on living room 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           -1.25          0.902          5.25           0              180            0
   1  CellPhone       -1.545         0.456          4.187          0              0              0              70
   2  CreditCard      -3.381         0.394          3.881          0              90             0              60
   3  RemoteControl   -0.355         0.742          1.495          0              0              0              36
   4  RemoteControl   -1.329         0.656          -2.329         0              0              0              57
   5  Box             -1.783         0.945          -2.202         0              0              0              57
   6  Box             -2.414         0.679          5.826          0              180            0              59
   7  Laptop          -0.108         0.739          1.202          0              0              0              36
   8  Laptop          -2.700         0.316          2.539          0              0              0              67
   9  Box             -0.601         1.031          1.105          0              180            0              36
  10  Vase            -1.329         0.664          -2.074         0              0              0              57
  11  CellPhone       -1.545         0.456          4.464          0              0              0              70
  12  WateringCan     -3.580         0.003          5.507          2.684          0              0              Floor|-04.41|
  13  KeyChain        -4.129         1.269          0.621          0              0              0              26
  14  Vase            -4.242         0.789          1.181          0              0              0              29
  15  Vase            -4.228         0.789          0.756          0              0              0              29
  16  Laptop          -1.663         0.387          5.916          0              180            0              59
  17  Pillow          -3.585         0.451          4.682          0              90             0              60
  18  RemoteControl   -2.246         0.454          4.464          0              0              0              70
  19  CreditCard      -1.685         0.452          4.048          0              0              0              70
  20  Vase            -4.225         0.789          0.382          0              0              0              29
  21  Statue          -4.223         1.263          0.399          0              0              0              26
  22  Statue          -2.246         0.462          3.771          0              0              0              70
  23  Statue          -1.965         0.554          4.602          0              0              0              70
  24  Shelf           -4.253         2.157          0.771          0              0              0
  25  Painting        -3.368         1.741          -0.298         0              0              0
  26  Shelf           -4.253         1.306          0.771          0              0              0
  27  Painting        -1.756         1.424          -3.595         0              0              0
  28  Shelf           -4.253         1.690          0.771          0              0              0
  29  Shelf           -4.261         0.833          0.771          0              0              0
  30  Drawer          0.411          0.581          1.221          0              180            0
  31  Drawer          -0.000         0.170          1.221          0              180            0
  32  Drawer          -0.000         0.581          1.221          0              180            0
  33  Drawer          0.411          0.375          1.221          0              180            0
  34  Drawer          0.411          0.170          1.221          0              180            0
  35  Drawer          -0.000         0.375          1.221          0              180            0
  36  Desk            -0.352         0.003          1.371          0              180            0
  37  FloorLamp       0.391          -0.001         5.157          0              0              0
  38  Window          -2.828         0.470          -0.157         90             199.328        0
  39  Window          -4.410         1.702          1.787          90             270            0
  40  Window          -3.638         1.702          6.735          90             0              0
  41  Window          -4.410         1.702          2.790          90             270            0
  42  Window          -2.827         1.702          -0.157         90             199.328        0
  43  Window          -0.131         1.702          6.735          90             0              0
  44  Window          -1.013         1.702          -0.154         90             159.633        0
  45  Window          -4.410         1.702          5.980          90             270            0
  46  Television      -0.153         1.176          5.790          0              225            0
  47  GarbageCan      0.357          0.003          2.159          0              90             0
  48  DeskLamp        0.277          0.735          1.381          0              0              0
  49  HousePlant      -1.819         0.641          -2.011         0              315            0
  50  LightSwitch     -2.740         1.495          -0.405         0              180            0
  51  TVStand         -0.118         0.001          5.874          0              45             0
  52  Chair           -1.353         0.002          -2.872         0              349.207        0
  53  Chair           -2.220         0.002          -1.298         0              168.118        0
  54  Chair           -1.515         0.007          -1.331         358.639        187.454        0
  55  Chair           -2.189         0.002          -2.835         0              2.328          0
  56  Safe            0.174          0.001          -0.071         0              323.940        0
  57  DiningTable     -1.783         0.003          -2.039         0              0              0
  58  Chair           -0.636         0.010          0.993          0              358.396        0
  59  Sofa            -2.161         0.006          6.115          0              180            0
  60  Sofa            -3.782         0.006          4.153          0              90             0
  61  Shelf           -1.095         0.607          1.321          0              180            0
  62  Shelf           -1.267         0.607          1.321          0              180            0
  63  Shelf           -1.267         0.401          1.321          0              180            0
  64  Shelf           -1.095         0.196          1.320          0              180            0
  65  Shelf           -1.095         0.401          1.321          0              180            0
  66  Shelf           -1.267         0.196          1.320          0              180            0
  67  ArmChair        -2.628         0.009          2.421          0              0              0
  68  Chair           -0.485         0.010          4.452          0              270            0
  69  Chair           -0.431         0.010          3.595          0              270            0
  70  CoffeeTable     -1.965         0.000          4.187          0              0              0
  71  NorthWall
  72  EastWall
  73  SouthWall
  74  WestWall

Plan:
STEP 1: walk to face shelves in living room | STEP 2: pick up keys from top shelf | STEP 3: walk over to lamp next to tv set | STEP 4: turn on lamp next to tv set | END