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           1.25           0.900          -2.5           0              270            0
   1  KeyChain        0.487          0.474          -1.182         0              180            0              42
   2  KeyChain        0.487          0.478          -0.995         0              180            0              42
   3  KeyChain        -0.087         0.548          0.997          0              0              0              39
   4  RemoteControl   2.321          0.453          -2.058         0              270            0              52
   5  RemoteControl   0.185          0.478          -1.245         0              0              0              42
   6  CreditCard      1.982          0.502          -1.807         0              270            0              52
   7  CreditCard      -1.675         0.475          -0.642         0              90             0              49
   8  Laptop          -0.115         0.475          -1.057         0              180            0              42
   9  Pillow          0.794          0.609          0.997          0              180            0              39
  10  Box             2.513          0.144          -1.093         0              318.382        0              52
  11  Bowl            -1.743         0.760          -0.585         0              90             0              46
  12  KeyChain        2.067          0.453          -1.890         0              270            0              52
  13  Vase            -1.588         0.168          -0.531         0              0              0              47
  14  Statue          -1.680         0.761          -1.526         0              90             0              46
  15  Pillow          -0.495         0.593          0.955          0              0              0              39
  16  Laptop          0.133          0.556          0.906          0              180            0              39
  17  Vase            -1.808         1.615          -2.597         0              0              0              43
  18  Statue          -0.301         0.861          -2.172         0              0              0              34
  19  RemoteControl   2.321          0.514          -2.058         0              270            0              52
  20  Vase            0.009          0.168          -2.264         0              0              0              36
  21  CreditCard      0.185          0.477          -1.307         0              180            0              42
  22  Vase            -1.644         0.475          -0.394         0              90             0              49
  23  Statue          -1.738         0.180          -0.311         0              90             0              49
  24  Painting        0.172          1.781          1.934          0              0              0
  25  HousePlant      -1.646         0.755          -1.792         0              0              0
  26  LightSwitch     1.406          1.294          1.651          0              180            0
  27  Television      -0.035         1.239          -2.439         0              0              0
  28  FloorLamp       -1.573         -0.003         1.302          0              0              0
  29  GarbageCan      0.742          -0.000         -2.522         0              270            0
  30  Window          -0.816         1.534          -2.719         90             0              0
  31  Window          0.791          1.534          -2.718         90             0              0
  32  Shelf           0.340          0.474          -2.377         0              0              0
  33  Shelf           0.341          0.273          -2.377         0              0              0
  34  TVStand         -0.025         -0.000         -2.385         0              0              0
  35  Shelf           -0.393         0.302          -2.382         0              0              0
  36  Shelf           -0.026         0.442          -2.380         0              0              0
  37  Shelf           -0.393         0.597          -2.382         0              0              0
  38  Shelf           0.340          0.643          -2.377         0              0              0
  39  Sofa            0.124          0.008          1.032          0              180            0
  40  Cabinet         -1.827         0.729          -2.357         0              90             0
  41  Shelf           -1.827         2.041          -2.356         0              90             0
  42  CoffeeTable     0.017          -0.000         -1.108         0              180            0
  43  Shelf           -1.827         1.744          -2.356         0              90             0
  44  Shelf           -1.827         1.452          -2.356         0              90             0
  45  Shelf           -1.730         0.278          -1.635         0              90             0
  46  TVStand         -1.733         -0.000         -1.058         0              90             0
  47  Shelf           -1.730         0.302          -0.479         0              90             0
  48  Shelf           -1.732         0.446          -1.056         0              90             0
  49  Shelf           -1.731         0.596          -0.478         0              90             0
  50  Shelf           -1.733         0.648          -1.635         0              90             0
  51  Shelf           -1.730         0.477          -1.635         0              90             0
  52  ArmChair        2.344          0.002          -2.041         0              270            0
  53  ShelvingUnit    -1.847         0.001          -2.357         0              90             0
  54  NorthWall
  55  EastWall
  56  SouthWall
  57  WestWall

Plan:
STEP 1: Move to the middle of the blue sofa where the keys are sitting on the sofa | STEP 2: Pick up the keys on the sofa | STEP 3: Carry the keys to the floor lamp in the corner of the room | STEP 4: Turn on the lamp | END