Task: Grab the box on the sofa, turn on the floor lamp

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -2.75          0.900          -1.5           0              0              0
   1  Plate           1.662          0.789          -0.045         0              0              0              36
   2  KeyChain        2.327          0.784          -0.538         0              0              0              36
   3  CreditCard      -2.242         0.711          2.919          0              0              0              33
   4  CreditCard      2.105          0.784          -0.168         0              0              0              36
   5  Box             -3.341         0.736          0.468          0              0              0              31
   6  Candle          1.884          0.784          -0.292         0              0              0              36
   7  Vase            -1.774         0.447          0.145          0              0              0              37
   8  CreditCard      -1.516         0.232          2.825          0              0              0              32
   9  Vase            2.548          0.793          -0.661         0              0              0              36
  10  WateringCan     -3.252         -0.000         -1.861         0              0              0
  11  Laptop          -2.102         0.445          0.273          0              0              0              37
  12  RemoteControl   -0.559         0.192          1.923          0              270            0              28
  13  Statue          -3.592         0.705          1.431          0              90             0              34
  14  KeyChain        -2.102         0.447          -0.364         0              0              0              37
  15  Pillow          -3.428         0.645          -0.807         0              0              0              31
  16  Plate           2.105          0.789          -0.415         0              0              0              36
  17  Statue          -1.747         0.242          2.750          0              0              0              32
  18  LightSwitch     -3.900         1.284          1.684          0              90             0
  19  GarbageCan      0.299          5.066          1.253          0              2.215          0
  20  FloorLamp       -0.331         0.001          2.728          0              0              0
  21  Painting        -0.056         1.601          1.733          90             270            0
  22  Painting        4.136          1.590          -0.296         90             270            0
  23  Television      -1.859         1.200          2.702          358.970        180            0
  24  HousePlant      -3.580         0.604          -1.617         0              0              0
  25  Window          1.478          1.506          -1.927         90             0              0
  26  Window          -2.003         1.506          -1.927         90             0              0
  27  Window          3.480          1.506          -1.927         90             0              0
  28  ArmChair        -0.437         0.005          1.923          0              270            0
  29  ArmChair        -0.430         0.005          1.062          0              270            0
  30  ArmChair        -2.004         0.005          -1.578         0              0              0
  31  Sofa            -3.419         0.009          -0.042         0              90             0
  32  DiningTable     -1.857         0.231          2.787          0              0              0
  33  TVStand         -1.857         0.000          2.788          0              0              0
  34  SideTable       -3.597         0.004          1.437          0              0              0
  35  SideTable       -3.597         0.004          -1.607         0              0              0
  36  DiningTable     1.883          0.000          -0.291         0              0              0
  37  CoffeeTable     -2.023         0.005          0.018          0              270            0
  38  Chair           1.462          -0.001         0.195          0              164.999        0
  39  Chair           2.288          -0.001         -0.780         0              0              0
  40  Chair           2.223          -0.001         0.149          0              186.648        0
  41  Chair           1.638          -0.001         -0.847         0              0              0
  42  NorthWall
  43  EastWall
  44  SouthWall
  45  WestWall

Plan:
STEP 1: Walk straight to the box | STEP 2: Grab the box on the sofa | STEP 3: Turn right and turn right, walk to the corner with a floor lamp | STEP 4: Turn on the floor lamp | END