Task: Turn on a lamp while carrying keys

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -5.75          0.909          3.25           0              180            0
   1  TissueBox       -2.814         0.478          1.349          0              0              0              51
   2  TissueBox       -0.155         0.843          0.807          0              0              0              35
   3  Statue          -2.664         0.478          1.161          0              180            0              51
   4  Candle          -0.320         0.101          0.728          0              0              0              34
   5  Candle          -2.514         0.475          1.099          0              0              0              51
   6  KeyChain        -2.188         0.400          4.058          0              0              0              50
   7  KeyChain        -0.301         1.306          4.106          0              90             0              41
   8  KeyChain        -0.155         0.842          0.613          0              0              0              35
   9  CreditCard      -4.029         0.542          3.918          0              0              0              44
  10  RemoteControl   0.199          0.868          2.440          0              0              0              37
  11  RemoteControl   -0.211         0.843          0.419          0              0              0              35
  12  Laptop          -0.245         1.303          3.113          0              0              0              41
  13  Box             -2.264         0.667          1.251          0              0              0              51
  14  TissueBox       -0.322         0.843          0.807          0              0              0              35
  15  KeyChain        -0.322         0.842          0.516          0              0              0              35
  16  Boots           -0.443         0.009          -0.549         0              339.553        0
  17  Candle          -2.964         0.479          1.036          0              0              0              51
  18  RemoteControl   -0.245         1.307          3.775          0              0              0              41
  19  CreditCard      0.109          1.040          1.687          0              0              0              36
  20  Laptop          -2.011         0.447          -0.086         0              332.629        0              49
  21  Pillow          -3.190         0.540          -0.040         0              0              0              49
  22  Statue          -0.245         1.307          3.444          0              270            0              41
  23  GarbageCan      -5.166         -0.026         -0.382         0              0              0
  24  Television      0.145          1.528          1.996          0              270            0
  25  LightSwitch     -6.0           1.381          2.882          0              90             0
  26  Painting        -0.048         1.912          3.687          90             270            0
  27  Painting        -5.353         1.990          -0.694         90             180            0
  28  HousePlant      -0.289         0.840          0.301          0              0              0
  29  FloorLamp       -4.100         0.013          -0.468         0              0              0
  30  Window          -4.131         1.557          -0.827         90             180            0
  31  Window          -0.972         1.557          -0.827         90             180            0
  32  Window          -2.553         1.557          -0.827         90             180            0
  33  Drawer          -0.359         0.583          0.516          0              270            0
  34  Drawer          -0.359         0.220          0.516          0              270            0
  35  SideTable       -0.276         0.015          0.516          0              270            0
  36  TVStand         0.172          0.591          1.982          0              270            0
  37  DiningTable     0.172          0.859          1.982          0              270            0
  38  DiningTable     0.172          0.673          1.982          0              270            0
  39  Drawer          -0.309         1.052          3.610          0              270            0
  40  Drawer          -0.309         0.761          3.610          0              270            0
  41  Dresser         -0.265         0.007          3.609          0              270            0
  42  Drawer          -0.309         0.471          3.610          0              270            0
  43  Drawer          -0.309         0.181          3.610          0              270            0
  44  Sofa            -3.786         0.015          3.893          0              180            0
  45  RoomDecor       -5.815         0.010          4.406          0              0              0
  46  RoomDecor       -0.333         0.010          4.396          0              0              0
  47  RoomDecor       -0.178         0.010          -0.448         0              0              0
  48  RoomDecor       -5.805         0.010          -0.486         0              0              0
  49  Sofa            -2.683         0.011          -0.124         0              0              0
  50  ArmChair        -2.062         0.014          4.216          0              180            0
  51  CoffeeTable     -2.646         0.007          1.150          0              0              0
  52  Chair           -1.347         0.009          4.243          0              180            0
  53  NorthWall
  54  EastWall
  55  SouthWall
  56  WestWall

Plan:
STEP 1: Move to the left then straight back and to the far left again to the white side table | STEP 2: Pick up the keys sitting on top of the table | STEP 3: Carry the keys to the large floor lamp next to the window | STEP 4: Turn on the lamp | END