Task: Carry 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           12.75          0.902          1.5            0              90             0
   1  Statue          12.457         0.612          -1.193         0              90             0              49
   2  Watch           14.252         0.553          1.677          0              0              0              42
   3  KeyChain        8.395          0.397          0.037          0              90             0              54
   4  Book            14.428         0.755          1.303          0              0              0              36
   5  Book            14.199         0.553          0.594          0              0              0              39
   6  CreditCard      12.306         0.606          -1.139         0              90             0              49
   7  RemoteControl   14.135         0.757          0.519          0              0              0              36
   8  RemoteControl   9.692          0.432          3.143          0              0              0              44
   9  Laptop          11.232         0.588          0.956          0              0              0              43
  10  Book            9.305          0.430          3.216          0              0              0              44
  11  Box             10.845         0.840          1.142          0              0              0              43
  12  CreditCard      12.231         0.604          -1.030         0              90             0              49
  13  KeyChain        14.252         0.141          2.188          0              0              0              37
  14  Pillow          11.448         0.528          3.081          0              0              0              51
  15  Statue          10.651         0.597          0.678          0              0              0              43
  16  Laptop          10.807         0.454          3.081          0              0              0              44
  17  RemoteControl   8.341          0.399          0.648          0              90             0              53
  18  Watch           14.039         0.553          1.046          0              0              0              31
  19  FloorLamp       7.864          0.006          3.396          0              0              0
  20  GarbageCan      7.785          -0.027         -1.145         0              0              0
  21  Painting        7.492          1.835          -0.495         90             270            0
  22  Painting        7.492          1.835          2.792          90             270            0
  23  Television      14.459         1.218          0.925          358.945        270            0
  24  LightSwitch     12.979         1.399          3.767          0              180            0
  25  Painting        7.492          1.779          1.116          90             270            0
  26  Painting        14.763         1.753          1.126          90             270            0
  27  HousePlant      11.374         0.467          -1.143         0              0              0
  28  Window          12.029         1.687          -1.595         90             180            0
  29  Window          10.227         1.687          -1.594         90             180            0
  30  Drawer          14.183         0.374          0.556          0              270            0
  31  Drawer          14.183         0.580          1.069          0              270            0
  32  Drawer          14.183         0.580          2.095          0              270            0
  33  Drawer          14.183         0.374          1.582          0              270            0
  34  Drawer          14.183         0.169          1.069          0              270            0
  35  Drawer          14.183         0.374          1.069          0              270            0
  36  Dresser         14.330         0.002          1.323          0              270            0
  37  Drawer          14.183         0.169          2.095          0              270            0
  38  Drawer          14.183         0.374          2.095          0              270            0
  39  Drawer          14.183         0.580          0.556          0              270            0
  40  Drawer          14.183         0.169          0.556          0              270            0
  41  Drawer          14.183         0.169          1.582          0              270            0
  42  Drawer          14.183         0.580          1.582          0              270            0
  43  CoffeeTable     10.821         -0.011         0.928          0              0              0
  44  ArmChair        9.499          0.001          3.265          0              180            0
  45  SideTable       11.377         0.001          -1.160         0              90             0
  46  SideTable       14.615         -0.001         -0.776         0              270            0
  47  SideTable       14.331         0.003          0.069          0              0              0
  48  SideTable       14.331         0.003          2.585          0              0              0
  49  SideTable       12.308         0.001          -1.154         0              0              0
  50  Chair           8.154          0.006          1.499          0              90             0
  51  Sofa            11.450         0.002          3.211          0              180            0
  52  Shelf           10.794         0.231          0.928          0              0              0
  53  ArmChair        8.231          0.006          0.769          0              90             0
  54  ArmChair        8.224          0.006          -0.082         0              90             0
  55  NorthWall
  56  EastWall
  57  SouthWall
  58  WestWall

Plan:
STEP 1: Move to the opposite side of the room to the far left tan chair that the keys are sitting on top of  | STEP 2: Pick up the keys that are on top of the chair | STEP 3: Carry the keys across the room to the large floor lamp | STEP 4: Turn on the lamp | END