Task: turn on floor lamp with keys in hand

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           0.900          -0.25          0              0              0
   1  Plate           2.548          0.789          -0.661         0              0              0              41
   2  Statue          -1.862         0.242          2.712          0              0              0              37
   3  Candle          2.327          0.784          -0.168         0              0              0              41
   4  Candle          -1.632         0.233          2.675          0              0              0              37
   5  KeyChain        -1.938         0.447          0.400          0              0              0              42
   6  KeyChain        -3.168         0.584          0.213          0              0              0              36
   7  KeyChain        -3.428         0.584          -0.297         0              0              0              36
   8  CreditCard      -0.552         0.190          0.820          0              270            0              34
   9  Box             -3.254         0.736          0.723          0              0              0              36
  10  Box             1.27           0.155          -0.293         0              9.804          0              41
  11  Candle          -2.020         0.447          0.145          0              0              0              42
  12  Vase            -1.480         0.711          2.788          0              0              0              38
  13  CreditCard      2.327          0.784          -0.292         0              0              0              41
  14  Vase            1.884          0.793          -0.045         0              0              0              41
  15  WateringCan     -3.252         -0.000         -1.861         0              0              0
  16  Laptop          1.219          0.782          -0.168         0              0              0              41
  17  RemoteControl   2.327          0.785          -0.415         0              0              0              41
  18  Statue          -1.856         0.453          0.273          0              0              0              42
  19  KeyChain        -1.774         0.449          0.400          0              0              0              42
  20  Pillow          -3.254         0.645          -0.552         0              0              0              36
  21  Plate           2.105          0.789          0.077          0              0              0              41
  22  Statue          2.548          0.794          -0.168         0              0              0              41
  23  LightSwitch     -3.900         1.284          1.684          0              90             0
  24  GarbageCan      0.299          5.066          1.253          0              2.215          0
  25  FloorLamp       -0.331         0.001          2.728          0              0              0
  26  Painting        -0.056         1.601          1.733          90             270            0
  27  Painting        4.136          1.590          -0.296         90             270            0
  28  Television      -1.859         1.200          2.702          358.970        180            0
  29  HousePlant      -3.580         0.604          -1.617         0              0              0
  30  Window          1.478          1.506          -1.927         90             0              0
  31  Window          -2.003         1.506          -1.927         90             0              0
  32  Window          3.480          1.506          -1.927         90             0              0
  33  ArmChair        -0.437         0.005          1.923          0              270            0
  34  ArmChair        -0.430         0.005          1.062          0              270            0
  35  ArmChair        -2.004         0.005          -1.578         0              0              0
  36  Sofa            -3.419         0.009          -0.042         0              90             0
  37  DiningTable     -1.857         0.231          2.787          0              0              0
  38  TVStand         -1.857         0.000          2.788          0              0              0
  39  SideTable       -3.597         0.004          1.437          0              0              0
  40  SideTable       -3.597         0.004          -1.607         0              0              0
  41  DiningTable     1.883          0.000          -0.291         0              0              0
  42  CoffeeTable     -2.023         0.005          0.018          0              270            0
  43  Chair           1.462          -0.001         0.195          0              164.999        0
  44  Chair           2.288          -0.001         -0.780         0              0              0
  45  Chair           2.223          -0.001         0.149          0              186.648        0
  46  Chair           1.638          -0.001         -0.847         0              0              0
  47  NorthWall
  48  EastWall
  49  SouthWall
  50  WestWall

Plan:
STEP 1: walk to face coffee table | STEP 2: pick up keys from table | STEP 3: walk to face floor lamp | STEP 4: turn on floor lamp | END