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           -1.75          0.900          -1.0           0              90             0
   1  Statue          -0.134         0.487          0.618          0              90             0              27
   2  Statue          -0.384         0.483          0.442          0              90             0              27
   3  KeyChain        1.675          0.757          -0.208         0              270            0              30
   4  KeyChain        -1.438         0.489          1.818          0              0              0              37
   5  CreditCard      -1.632         0.488          2.013          0              0              0              37
   6  CreditCard      0.474          0.290          1.875          0              0              0              41
   7  Laptop          0.031          0.475          -0.086         0              90             0              27
   8  Box             -1.270         0.506          0.847          0              180            0              38
   9  Laptop          1.525          0.755          0.241          0              270            0              27
  10  CreditCard      -1.889         1.325          -1.549         0              90             0              40
  11  KeyChain        1.600          0.757          0.691          0              270            0              30
  12  Vase            -0.051         0.478          0.266          0              90             0              27
  13  Vase            1.525          0.764          -0.058         0              270            0              30
  14  Pillow          -1.235         0.461          -0.025         0              75.000         0              38
  15  RemoteControl   -1.192         0.329          0.643          0              90             0              38
  16  Watch           1.461          0.178          -0.278         0              270            0              33
  17  Vase            0.031          0.477          0.971          0              90             0              27
  18  Statue          -1.632         0.499          1.689          0              180            0              37
  19  Television      1.826          1.241          0.248          0              270            0
  20  LightSwitch     -2.0           1.332          3.920          0              90             0
  21  Window          -0.216         1.495          -1.878         90             0              0
  22  HousePlant      -1.780         0.468          1.965          0              0              0
  23  Painting        -2.0           1.577          0.418          90             270            0
  24  GarbageCan      1.767          -0.001         3.878          0              0              0
  25  FloorLamp       1.228          0.000          3.744          0              0              0
  26  Painting        -0.096         1.578          4.050          90             0              0
  27  CoffeeTable     -0.150         0.000          0.421          0              270            0
  28  Shelf           1.663          0.474          0.609          0              270            0
  29  Shelf           1.663          0.273          0.609          0              270            0
  30  TVStand         1.669          -0.000         0.243          0              270            0
  31  Shelf           1.663          0.302          -0.124         0              270            0
  32  Shelf           1.663          0.442          0.241          0              270            0
  33  Shelf           1.663          0.597          -0.124         0              270            0
  34  Shelf           1.663          0.643          0.609          0              270            0
  35  Cabinet         -1.767         0.729          -1.593         0              91.801         0
  36  Shelf           -1.769         2.041          -1.593         0              91.801         0
  37  SideTable       -1.567         -0.002         1.818          0              90             0
  38  Sofa            -1.445         0.008          0.420          0              90             0
  39  Shelf           -1.769         1.744          -1.593         0              91.801         0
  40  Shelf           -1.768         1.452          -1.593         0              91.801         0
  41  ArmChair        0.396          0.005          2.194          0              180            0
  42  ArmChair        -0.633         0.005          2.194          0              180            0
  43  ShelvingUnit    -1.786         0.001          -1.592         0              91.801         0
  44  NorthWall
  45  EastWall
  46  SouthWall
  47  WestWall

Plan:
STEP 1: Move across the room to the left side of the TV stand | STEP 2: Pick up the keys sitting on top of the TV stand | STEP 3: Carry the keys to the floor lamp in the corner of the room | STEP 4: Turn on the lamp | END