Task: turn on the lamp in corner of the room while holding some keys

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          0.916          0.75           0              270            0
   1  Statue          3.121          0.595          -0.507         0              180            0              50
   2  Statue          -3.299         0.595          -0.357         0              0              0              54
   3  Newspaper       -0.145         0.669          1.464          0              0              0              72
   4  KeyChain        -2.812         0.563          1.187          0              270            0              59
   5  KeyChain        3.198          0.591          0.298          0              270            0              47
   6  KeyChain        -2.812         0.563          1.806          0              270            0              59
   7  CellPhone       0.067          0.910          2.188          0              0              0              64
   8  CellPhone       -3.299         0.592          -0.622         0              0              0              54
   9  CreditCard      -0.294         0.160          1.891          0              0              0              71
  10  CreditCard      -0.113         0.906          1.460          0              0              0              64
  11  RemoteControl   3.276          0.591          0.364          0              180            0              47
  12  Book            0.116          0.902          1.073          0              29.999         0              64
  13  Box             3.173          0.206          -0.048         0              19.470         0              50
  14  Statue          0.067          0.912          2.431          0              0              0              64
  15  CreditCard      -2.519         0.358          -1.875         0              29.999         0              41
  16  Laptop          -2.780         0.365          -1.874         0              0              0              41
  17  WateringCan     2.893          0.014          -1.916         0              328.832        0
  18  Newspaper       -2.739         0.569          2.012          0              270            0              59
  19  Vase            -2.168         1.195          -2.183         0              0              0
  20  CellPhone       3.121          0.590          0.298          0              180            0              47
  21  RemoteControl   -2.885         0.564          0.775          0              270            0              59
  22  Vase            -1.046         1.195          -2.151         0              0              0
  23  Pillow          -2.885         0.623          1.600          0              270            0              59
  24  KeyChain        -3.223         0.331          -0.441         0              0              0              48
  25  Cabinet         0.333          0.514          -2.015         0              0              0
  26  DeskLamp        3.143          0.591          1.457          0              270            0
  27  LightSwitch     -0.927         1.316          2.846          0              180            0
  28  HousePlant      0.491          0.874          -1.581         0              0              0
  29  Television      0.069          1.406          1.698          0              270            0
  30  GarbageCan      3.164          0.026          0.891          0              0              0
  31  Painting        -1.561         1.408          -2.318         90             180            0
  32  Painting        3.367          1.789          -0.949         90             270            0
  33  Painting        -3.488         1.386          -0.507         90             270            0
  34  FloorLamp       3.103          0.025          -2.341         0              135            0
  35  Window          1.133          1.218          -2.740         90             0              0
  36  Window          -3.368         1.180          -1.539         90             90             0
  37  Window          2.898          1.218          -2.740         90             0              0
  38  Window          2.006          1.218          -2.740         90             0              0
  39  Window          -0.193         1.157          -2.563         90             0              0
  40  Window          -2.970         1.157          -2.563         90             0              0
  41  ArmChair        -2.859         0.026          -2.036         0              29.994         0
  42  SideTable       -0.170         0.027          -2.279         0              0              0
  43  Drawer          -0.173         0.465          -2.135         0              0              0
  44  Drawer          3.104          0.167          1.400          0              270            0
  45  SideTable       3.163          0.032          1.400          0              270            0
  46  Drawer          3.103          0.418          1.401          0              270            0
  47  SideTable       3.163          0.032          0.364          0              270            0
  48  Drawer          -3.241         0.418          -0.490         0              90             0
  49  Drawer          3.104          0.167          -0.574         0              270            0
  50  SideTable       3.163          0.032          -0.574         0              270            0
  51  Drawer          3.104          0.167          0.364          0              270            0
  52  Drawer          3.104          0.419          -0.574         0              270            0
  53  Drawer          -3.241         0.167          -0.489         0              90             0
  54  SideTable       -3.300         0.032          -0.489         0              90             0
  55  Drawer          3.104          0.419          0.364          0              270            0
  56  Chair           1.049          0.031          -2.190         0              29.997         0
  57  DogBed          2.739          0.032          2.260          0              45             0
  58  Chair           2.037          0.031          -2.232         0              350.485        0
  59  Sofa            -2.957         0.032          1.393          0              90             0
  60  Drawer          -0.189         0.232          0.954          0              270            0
  61  Drawer          -0.415         0.854          1.921          0              270            0
  62  Drawer          -0.415         0.351          1.414          0              270            0
  63  Drawer          -0.415         0.603          1.414          0              270            0
  64  Dresser         -0.052         0.028          1.667          0              270            0
  65  Drawer          -0.190         0.484          0.954          0              270            0
  66  Drawer          -0.190         0.736          0.954          0              270            0
  67  Drawer          -0.415         0.603          1.921          0              270            0
  68  Drawer          -0.415         0.603          2.384          0              270            0
  69  Drawer          -0.415         0.351          2.384          0              270            0
  70  Drawer          -0.415         0.854          2.384          0              270            0
  71  Drawer          -0.415         0.351          1.921          0              270            0
  72  Drawer          -0.415         0.854          1.414          0              270            0
  73  Stool           3.135          0.029          -1.625         0              330.001        0
  74  Chair           1.631          0.029          2.210          0              161.562        0
  75  NorthWall
  76  EastWall
  77  SouthWall
  78  WestWall

Plan:
STEP 1: turn around and walk to the end of the room where the black cabinet is | STEP 2: grab the keys off of the black cabinet | STEP 3: move to the end of the right side of the room | STEP 4: turn on the lamp there | END