Task: Turn on a lamp while holding keys

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          0.905          0.25           0              270            0
   1  Statue          -2.855         1.107          4.226          0              0              0              22
   2  KeyChain        -6.586         0.416          0.088          0              56.714         0              37
   3  KeyChain        -2.229         0.502          0.484          0              0              0              41
   4  CreditCard      -0.423         0.860          3.663          0              0              0              43
   5  RemoteControl   -2.116         1.101          4.299          0              0              0              22
   6  Box             -3.411         0.798          0.296          0              270            0              41
   7  Laptop          -2.525         0.5            0.390          0              0              0              41
   8  Box             -1.7           0.307          4.296          0              0              0              Floor|-03.53|
   9  Watch           -0.080         0.856          3.663          0              0              0              43
  10  Pillow          -1.830         0.597          0.222          0              0              0              41
  11  WateringCan     -0.269         0.005          2.366          1.834          0              0              Floor|-03.53|
  12  Newspaper       -1.980         0.454          1.821          0              0              0              36
  13  KeyChain        -3.115         0.502          0.202          0              0              0              41
  14  Laptop          -0.252         0.858          3.896          0              0              0              43
  15  RemoteControl   -0.366         0.857          3.663          0              0              0              43
  16  CreditCard      -4.581         0.421          1.396          0              0              0              39
  17  Statue          -2.412         1.105          4.226          0              0              0              22
  18  Curtains        -0.089         2.460          2.111          0              0              0
  19  Curtains        -1.146         1.383          4.530          0              0              0
  20  Drawer          -2.288         0.267          4.112          0              180            0
  21  Drawer          -2.836         0.750          4.111          0              180            0
  22  Dresser         -2.560         0.005          4.224          0              180            0
  23  Drawer          -2.834         0.267          4.113          0              180            0
  24  Drawer          -2.288         0.749          4.110          0              180            0
  25  LightSwitch     -7.0           1.363          2.605          0              74.999         0
  26  Television      -2.554         1.583          4.300          0              180            0
  27  FloorLamp       -0.301         0.014          -0.129         1.374          0              0
  28  Painting        0.0            1.583          4.006          90             270            0
  29  DeskLamp        -6.766         0.411          -0.028         0              0              0
  30  GarbageCan      -4.115         -0.032         -0.161         0              0              0
  31  Painting        -3.704         1.718          4.600          90             180            0
  32  Window          -0.037         1.705          2.096          90             270            0
  33  Window          -1.157         1.697          4.593          90             180            0
  34  HousePlant      -0.287         0.395          2.108          0              0              0
  35  Chair           -6.022         0.005          0.092          0              338.430        0
  36  Ottoman         -1.773         0.004          1.807          0              0              0
  37  SideTable       -6.720         0.006          1.513          0              326.715        0
  38  SideTable       -4.292         0.006          0.413          0              0              0
  39  ArmChair        -4.384         0.008          1.395          0              90             0
  40  SideTable       -0.253         0.004          2.102          0              0              0
  41  Sofa            -2.524         0.010          0.263          0              0              0
  42  Drawer          -0.357         0.208          3.798          0              0              0
  43  Dresser         -0.271         0.004          4.011          0              270            0
  44  Drawer          -0.359         0.581          3.795          0              0              0
  45  Drawer          -0.357         0.583          4.225          0              0              0
  46  Drawer          -0.358         0.210          4.221          0              0              0
  47  DogBed          -0.844         0.007          0.138          0              90             0
  48  NorthWall
  49  EastWall
  50  SouthWall
  51  WestWall

Plan:
STEP 1: Move across the room to the large grey sofa facing the keys | STEP 2: pick up the keys sitting on top of the sofa | STEP 3: Carry the keys to the large floor lamp to the left of the dog bed | STEP 4: Turn on the floor lamp | END