Task: turn on floor lamp while holding set of keys

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -3.25          0.907          5.0            0              180            0
   1  Bowl            -4.659         0.756          -0.255         0              0              0              53
   2  TissueBox       -4.477         0.756          -0.502         0              0              0              53
   3  Watch           -4.295         0.754          -0.008         0              0              0              53
   4  Pencil          -0.925         0.882          0.179          0              90             0              55
   5  KeyChain        -1.087         0.450          2.322          0              0              0              54
   6  KeyChain        -3.930         0.755          -0.255         0              270            0              53
   7  Book            -1.554         0.450          3.031          0              0              0              54
   8  CellPhone       0.628          0.431          4.883          0              0              0              46
   9  CellPhone       0.315          0.431          5.363          0              0              0              46
  10  CreditCard      -1.204         0.449          3.031          0              0              0              54
  11  Laptop          -1.087         0.448          2.086          0              0              0              54
  12  Book            -1.236         0.880          0.179          0              90             0              55
  13  Box             0.957          0.286          6.189          0              327.955        0              46
  14  Pillow          0.438          0.581          5.162          321.968        0              0              46
  15  Bowl            -3.747         0.756          -0.502         0              0              0              50
  16  WateringCan     -0.816         0.005          0.189          0              0              0
  17  TissueBox       -4.112         0.756          -0.502         0              0              0              53
  18  Newspaper       0.233          0.558          2.454          0              0              0              38
  19  CreditCard      0.628          0.431          5.363          0              0              0              46
  20  KeyChain        0.319          0.552          2.153          0              0              0              38
  21  Boots           -6.309         0.006          1.252          0              92.842         0
  22  Pencil          0.226          0.360          2.475          0              180            0              40
  23  Laptop          0.379          0.541          2.834          0              301.058        0              38
  24  Vase            0.405          0.554          2.304          0              0              0              38
  25  RemoteControl   0.585          0.360          2.216          0              0              0              44
  26  Watch           -0.842         0.770          0.302          0              180            0              56
  27  CellPhone       0.618          0.357          2.605          0              0              0              44
  28  Plate           -4.842         0.758          -0.626         0              0              0              49
  29  Painting        -6.5           1.759          -0.341         0              0              0
  30  Painting        0.704          1.778          0.782          0              0              0
  31  Television      1.5            1.690          2.562          0              270            0
  32  FloorLamp       1.111          0.007          6.805          0              0              0
  33  GarbageCan      -6.128         -0.003         2.800          0              0              0
  34  LightSwitch     -6.5           1.498          1.345          0              90             0
  35  HousePlant      -0.753         0.874          0.209          0              0              0
  36  Window          1.496          1.712          4.454          90             90             0
  37  Window          -4.210         1.577          -1.980         90             180            0
  38  CoffeeTable     0.405          0.008          2.605          0              270            0
  39  Drawer          0.597          0.234          2.604          0              270            0
  40  Drawer          0.214          0.393          2.604          0              270            0
  41  Drawer          0.214          0.234          2.609          0              270            0
  42  Drawer          0.214          0.075          2.604          0              270            0
  43  Drawer          0.597          0.075          2.604          0              270            0
  44  Drawer          0.597          0.393          2.604          0              270            0
  45  Ottoman         0.493          0.006          4.309          0              0              0
  46  ArmChair        0.420          0.014          5.129          0              180            0
  47  Chair           -4.664         0.008          0.164          0              180            0
  48  Chair           -3.424         0.008          -0.321         0              270            0
  49  Chair           -4.988         0.008          -0.401         0              90             0
  50  Chair           -3.904         0.008          -0.827         0              0              0
  51  Chair           -4.570         0.008          -0.831         0              0              0
  52  Chair           -3.996         0.008          0.091          0              180            0
  53  DiningTable     -4.295         0.006          -0.378         0              0              0
  54  Sofa            -1.527         0.013          2.559          0              90             0
  55  SideTable       -1.030         0.006          0.160          0              0              0
  56  Drawer          -1.030         0.780          0.225          0              0              0
  57  NorthWall
  58  EastWall
  59  SouthWall
  60  WestWall

Plan:
STEP 1: walk through living room to face coffee table | STEP 2: pick up set of keys from table | STEP 3: walk around couch to face floor lamp | STEP 4: turn on floor lamp | END