Task: Hold 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           1.25           0.900          -2.5           0              180            0
   1  Bowl            -0.416         0.477          -1.182         0              180            0              38
   2  Bowl            -1.848         0.171          -0.950         0              90             0              44
   3  KeyChain        0.148          0.760          -2.247         0              90             0              30
   4  KeyChain        -0.265         0.478          -1.120         0              180            0              38
   5  CreditCard      -0.087         0.552          0.906          0              180            0              35
   6  Box             0.353          0.686          0.906          0              270            0              35
   7  Bowl            -1.616         0.760          -0.350         0              90             0              42
   8  KeyChain        -0.115         0.474          -1.245         0              180            0              38
   9  Vase            -1.588         0.168          -0.531         0              0              0              43
  10  Statue          0.336          0.475          -1.245         0              0              0              38
  11  Pillow          -0.495         0.593          0.955          0              0              0              35
  12  Laptop          -1.732         0.753          -0.696         0              73.105         0              42
  13  Vase            0.336          0.474          -0.995         0              180            0              38
  14  Statue          0.145          0.551          -1.129         0              0              0              38
  15  RemoteControl   0.353          0.547          1.089          0              180            0              35
  16  Vase            -1.807         0.765          -1.055         0              90             0              42
  17  CreditCard      0.448          0.756          -2.397         0              0              0              30
  18  Vase            -0.034         0.179          -2.521         0              0              0              32
  19  Statue          -1.743         0.767          -1.526         0              90             0              42
  20  Painting        0.172          1.781          1.934          0              0              0
  21  HousePlant      -1.646         0.755          -1.792         0              0              0
  22  LightSwitch     1.406          1.294          1.651          0              180            0
  23  Television      -0.035         1.239          -2.439         0              0              0
  24  FloorLamp       -1.573         -0.003         1.302          0              0              0
  25  GarbageCan      0.742          -0.000         -2.522         0              270            0
  26  Window          -0.816         1.534          -2.719         90             0              0
  27  Window          0.791          1.534          -2.718         90             0              0
  28  Shelf           0.340          0.474          -2.377         0              0              0
  29  Shelf           0.341          0.273          -2.377         0              0              0
  30  TVStand         -0.025         -0.000         -2.385         0              0              0
  31  Shelf           -0.393         0.302          -2.382         0              0              0
  32  Shelf           -0.026         0.442          -2.380         0              0              0
  33  Shelf           -0.393         0.597          -2.382         0              0              0
  34  Shelf           0.340          0.643          -2.377         0              0              0
  35  Sofa            0.124          0.008          1.032          0              180            0
  36  Cabinet         -1.827         0.729          -2.357         0              90             0
  37  Shelf           -1.827         2.041          -2.356         0              90             0
  38  CoffeeTable     0.017          -0.000         -1.108         0              180            0
  39  Shelf           -1.827         1.744          -2.356         0              90             0
  40  Shelf           -1.827         1.452          -2.356         0              90             0
  41  Shelf           -1.730         0.278          -1.635         0              90             0
  42  TVStand         -1.733         -0.000         -1.058         0              90             0
  43  Shelf           -1.730         0.302          -0.479         0              90             0
  44  Shelf           -1.732         0.446          -1.056         0              90             0
  45  Shelf           -1.731         0.596          -0.478         0              90             0
  46  Shelf           -1.733         0.648          -1.635         0              90             0
  47  Shelf           -1.730         0.477          -1.635         0              90             0
  48  ArmChair        2.344          0.002          -2.041         0              270            0
  49  ShelvingUnit    -1.847         0.001          -2.357         0              90             0
  50  NorthWall
  51  EastWall
  52  SouthWall
  53  WestWall

Plan:
STEP 1: Move across the room to the coffee table facing the keys on the table | STEP 2: Pick up the keys on the coffee table | STEP 3: Carry the keys to the floor lamp in the corner of the room by the blue couch | STEP 4: Turn on the lamp | END