Task: turn on a lamp while holding keys

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -4.75          0.893          3.25           0              90             0
   1  Plate           -2.694         0.642          4.605          0              0              0              29
   2  Vase            -3.984         0.434          2.883          0              0              0              36
   3  Watch           -4.211         0.432          2.061          0              0              0              36
   4  Box             -3.893         0.833          4.349          0              270            0              32
   5  Box             -3.909         0.623          2.061          0              0              0              36
   6  KeyChain        -1.487         0.823          1.045          0              115.696        0              37
   7  Newspaper       -1.483         0.828          1.266          0              115.696        0              37
   8  CreditCard      -4.211         0.431          2.554          0              0              0              36
   9  RemoteControl   -1.257         0.823          1.295          0              0              0              37
  10  Laptop          -1.119         0.82           1.753          0              0              0              37
  11  Plate           -0.980         0.839          1.448          0              0              0              37
  12  Pillow          -4.161         0.542          0.575          0              0              0              33
  13  Statue          -1.119         0.827          0.989          0              0              0              37
  14  Vase            -4.135         0.434          2.225          0              0              0              36
  15  Watch           -2.380         0.516          4.633          0              0              0              30
  16  Television      -3.794         1.152          4.554          0              180            0
  17  GarbageCan      -0.264         -0.040         4.728          0              271.354        0
  18  FloorLamp       -5.663         -0.010         4.679          0              315            0
  19  HousePlant      -5.703         0.596          3.938          0              0              0
  20  LightSwitch     0.0            1.292          3.378          0              270            0
  21  Painting        -4.156         1.656          -0.002         90             180            0
  22  Painting        -1.623         1.565          -0.002         90             180            0
  23  Window          -6.040         1.550          2.102          90             270            0
  24  Window          -6.040         1.531          0.859          90             270            0
  25  Window          -6.040         1.531          4.236          90             270            0
  26  Chair           -0.667         -0.006         0.656          0              321.278        0
  27  Chair           -1.932         -0.006         2.413          0              154.294        0
  28  SideTable       -4.928         -0.002         0.272          0              27.993         0
  29  SideTable       -2.561         -0.002         4.623          0              180            0
  30  Drawer          -2.560         0.532          4.446          0              180            0
  31  SideTable       -5.676         -0.002         3.949          0              0              0
  32  SideTable       -3.793         0.013          4.463          0              0              0
  33  Sofa            -3.540         -0.020         0.460          0              0              0
  34  Chair           -5.146         -0.001         0.817          0              53.761         0
  35  Chair           -0.354         -0.006         1.654          0              261.279        0
  36  CoffeeTable     -4.003         -0.007         2.454          0              270            0
  37  DiningTable     -1.395         -0.006         1.447          0              0              0
  38  Sofa            -5.470         0.007          2.504          0              90             0
  39  NorthWall
  40  EastWall
  41  SouthWall
  42  WestWall

Plan:
STEP 1: turn right and walk to the end of the room, then turn left and walk over to the table ahead | STEP 2: grab the keys off of the table there | STEP 3: turn around and walk to the red couch, then hang a right and walk over to the TV at the end of the room, then turn left and walk to the lamp | STEP 4: turn on the lamp in the corner of the room there | END