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           -4.0           0.927          2.0            0              0              0
   1  Plate           -3.848         0.492          0.264          0              90             0              48
   2  Newspaper       -5.694         0.641          2.915          0              0              0              73
   3  CreditCard      -2.556         0.300          1.789          0              0              0              77
   4  CreditCard      -3.000         0.183          1.549          0              325.579        0              72
   5  Box             -2.596         0.481          2.224          0              0              0              77
   6  Pillow          -3.732         0.332          3.521          0              0              0              74
   7  Box             -5.939         0.823          3.617          0              0              0              73
   8  Statue          -3.259         0.490          0.264          0              90             0              48
   9  KeyChain        -4.047         0.942          5.17           0              0              0              33
  10  Vase            -1.701         0.930          0.179          0              0              0              28
  11  Vase            -0.764         0.940          0.203          0              0              0              45
  12  Vase            -1.784         1.285          0.186          0              180            0              38
  13  Newspaper       -2.877         0.299          1.887          0              270            0              77
  14  CreditCard      -3.066         1.037          5.17           0              0              0              56
  15  RemoteControl   -1.743         0.277          3.078          0              300.000        0              76
  16  Laptop          -5.764         0.634          2.376          0              0              0              73
  17  Pillow          -1.515         0.438          3.319          0              300.000        90             76
  18  Vase            -5.713         0.386          5.136          0              0              0              36
  19  Statue          -2.213         0.406          5.134          0              0              0              43
  20  Vase            -1.352         1.258          0.228          0              0              0              52
  21  Plate           -1.493         0.492          0.264          0              90             0              48
  22  Vase            -4.958         0.940          5.201          0              0              0              42
  23  Statue          -5.033         1.566          5.212          0              180            0              55
  24  Statue          -0.812         1.565          0.209          0              0              0              47
  25  Statue          -5.571         0.651          3.617          0              0              0              73
  26  Statue          -3.174         1.105          5.193          0              0              0              56
  27  Statue          -5.865         0.634          2.786          0              65.579         0              73
  28  Shelf           -1.776         0.988          0.184          0              180            0
  29  Chair           -5.413         0.024          1.780          0              0              0
  30  Cabinet         -5.365         1.170          5.031          0              0              0
  31  Chair           -5.388         0.024          3.369          0              355.695        0
  32  Chair           -6.211         0.024          2.517          0              172.601        0
  33  Shelf           -3.937         0.988          5.170          0              0              0
  34  Shelf           -6.572         1.144          5.170          0              0              0
  35  Cabinet         -4.181         1.873          5.029          0              0              0
  36  Shelf           -5.606         0.444          5.170          0              0              0
  37  Drawer          -6.324         0.823          5.001          0              0              0
  38  Cabinet         -2.017         1.714          0.323          0              180            0
  39  Cabinet         -2.465         1.329          5.029          0              0              0
  40  Drawer          -1.093         0.233          0.462          0              0              0
  41  Shelf           -4.672         1.317          5.170          0              0              0
  42  Shelf           -4.672         0.998          5.170          0              0              0
  43  Shelf           -2.221         0.444          5.170          0              0              0
  44  Drawer          -6.324         0.508          5.001          0              0              0
  45  Shelf           -1.041         0.998          0.184          0              180            0
  46  Drawer          -4.264         0.233          0.462          0              0              0
  47  Shelf           -0.810         1.688          0.185          0              180            0
  48  Shelf           -2.671         0.610          0.272          0              90             0
  49  Drawer          -2.681         0.233          0.462          0              0              0
  50  Drawer          -2.940         0.508          5.001          0              0              0
  51  Cabinet         -3.696         1.714          5.031          0              0              0
  52  Shelf           -1.041         1.317          0.184          0              180            0
  53  Cabinet         -1.532         1.873          0.325          0              180            0
  54  Chair           -5.382         0.024          2.695          0              6.230          0
  55  Shelf           -4.903         1.688          5.170          0              0              0
  56  Shelf           -3.187         1.144          5.170          0              0              0
  57  Drawer          -2.940         0.823          5.001          0              0              0
  58  Chair           -6.252         0.024          3.427          0              195.000        0
  59  Cabinet         -5.850         1.329          5.029          0              0              0
  60  Cabinet         -1.980         1.170          5.031          0              0              0
  61  Chair           -6.296         0.024          1.672          0              180            0
  62  FloorLamp       -0.369         0.016          4.992          0              59.992         0
  63  GarbageCan      -6.846         0.024          0.258          0              91.057         0
  64  Television      -3.503         1.506          0.001          0              0              0
  65  LightSwitch     0.0            1.184          4.410          0              270            0
  66  HousePlant      -1.105         0.315          2.740          0              0              0
  67  Painting        -5.769         1.394          -0.026         90             180            0
  68  Window          0.001          1.246          2.471          90             270            0
  69  Window          0.001          1.246          3.558          90             270            0
  70  Window          0.001          1.246          1.368          90             270            0
  71  Painting        -0.967         1.396          5.268          90             180            0
  72  CoffeeTable     -3.002         0.028          1.726          0              0              0
  73  DiningTable     -5.816         0.025          2.563          0              270            0
  74  Sofa            -3.328         0.023          3.632          0              180            0
  75  ArmChair        -1.012         0.028          2.084          0              270            0
  76  ArmChair        -1.577         0.028          3.295          0              210.000        0
  77  CoffeeTable     -2.667         0.025          1.999          0              5.810          0
  78  NorthWall
  79  EastWall
  80  SouthWall
  81  WestWall

Plan:
STEP 1: Move to the back wall to the middle black cubby where the keys are sitting | STEP 2: Pick up the keys inside of the cubby | STEP 3: Carry the keys over to the large floor lamp in the corner of the room | STEP 4: Turn on the lamp | END