Task: Move the 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          0.909          2.75           0              180            0
   1  TissueBox       -0.245         1.307          3.775          0              0              0              35
   2  Candle          0.109          1.043          1.687          0              0              0              30
   3  KeyChain        -3.055         0.550          3.698          0              0              0              38
   4  CreditCard      -0.076         1.305          3.610          0              0              0              35
   5  CreditCard      -2.814         0.477          1.099          0              0              0              45
   6  Pillow          -3.190         0.540          0.043          0              0              0              43
   7  Box             -2.264         0.667          1.251          0              0              0              45
   8  TissueBox       -0.267         0.843          0.807          0              0              0              29
   9  KeyChain        -4.273         0.543          3.918          0              0              0              38
  10  Boots           -0.443         0.009          -0.549         0              339.553        0
  11  Candle          -0.301         1.308          4.106          0              0              0              35
  12  RemoteControl   -3.444         0.464          -0.208         0              0              0              43
  13  CreditCard      -2.814         0.477          0.973          0              0              0              45
  14  Laptop          -2.011         0.447          -0.086         0              332.629        0              43
  15  Pillow          -3.707         0.635          3.745          0              0              0              38
  16  Statue          -0.245         1.307          3.113          0              0              0              35
  17  GarbageCan      -5.166         -0.026         -0.382         0              0              0
  18  Television      0.145          1.528          1.996          0              270            0
  19  LightSwitch     -6.0           1.381          2.882          0              90             0
  20  Painting        -0.048         1.912          3.687          90             270            0
  21  Painting        -5.353         1.990          -0.694         90             180            0
  22  HousePlant      -0.289         0.840          0.301          0              0              0
  23  FloorLamp       -4.100         0.013          -0.468         0              0              0
  24  Window          -4.131         1.557          -0.827         90             180            0
  25  Window          -0.972         1.557          -0.827         90             180            0
  26  Window          -2.553         1.557          -0.827         90             180            0
  27  Drawer          -0.359         0.583          0.516          0              270            0
  28  Drawer          -0.359         0.220          0.516          0              270            0
  29  SideTable       -0.276         0.015          0.516          0              270            0
  30  TVStand         0.172          0.591          1.982          0              270            0
  31  DiningTable     0.172          0.859          1.982          0              270            0
  32  DiningTable     0.172          0.673          1.982          0              270            0
  33  Drawer          -0.309         1.052          3.610          0              270            0
  34  Drawer          -0.309         0.761          3.610          0              270            0
  35  Dresser         -0.265         0.007          3.609          0              270            0
  36  Drawer          -0.309         0.471          3.610          0              270            0
  37  Drawer          -0.309         0.181          3.610          0              270            0
  38  Sofa            -3.786         0.015          3.893          0              180            0
  39  RoomDecor       -5.815         0.010          4.406          0              0              0
  40  RoomDecor       -0.333         0.010          4.396          0              0              0
  41  RoomDecor       -0.178         0.010          -0.448         0              0              0
  42  RoomDecor       -5.805         0.010          -0.486         0              0              0
  43  Sofa            -2.683         0.011          -0.124         0              0              0
  44  ArmChair        -2.062         0.014          4.216          0              180            0
  45  CoffeeTable     -2.646         0.007          1.150          0              0              0
  46  Chair           -1.347         0.009          4.243          0              180            0
  47  NorthWall
  48  EastWall
  49  SouthWall
  50  WestWall

Plan:
STEP 1: Move right then forward facing the keys on the left side of the blue sofa | STEP 2: Pick up the keys on top of the sofa | STEP 3: Carry the keys over to the large floor lamp by the window | STEP 4: Turn on the lamp | END