Task: Turn on a lamp while carrying a tea pot

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          0.901          3.5            0              180            0
   1  Bowl            -0.484         0.795          5.726          0              270            0              46
   2  Bowl            -5.885         1.281          3.891          0              0              0              59
   3  Newspaper       -0.868         0.365          3.915          0              0              0              45
   4  Watch           -3.462         0.146          7.173          0              90             0              56
   5  Watch           -0.738         0.793          2.252          0              270            0              47
   6  KeyChain        -0.413         0.794          5.928          0              180            0              46
   7  KeyChain        -0.947         0.367          3.002          0              0              0              45
   8  CreditCard      -0.631         0.407          3.915          0              0              0              45
   9  RemoteControl   -3.067         0.882          7.105          0              90             0              54
  10  RemoteControl   -2.561         0.536          4.480          0              270            0              62
  11  Box             -0.868         0.603          3.915          0              0              0              45
  12  Box             -5.983         0.162          5.764          0              347.562        0              56
  13  Statue          -2.186         1.276          7.177          0              0              0              61
  14  Vase            -5.349         0.534          6.740          0              45             0              63
  15  Vase            -5.920         0.442          4.915          0              0              0              57
  16  Newspaper       -6.012         1.278          4.808          0              0              0              59
  17  Laptop          -2.447         0.525          4.055          0              9.597          0              62
  18  WateringCan     -2.228         0.137          7.107          0              0              0
  19  Vase            -3.557         1.280          7.235          0              90             0              61
  20  CreditCard      -0.789         0.426          4.219          0              0              0              45
  21  Vase            -5.903         1.270          4.988          0              0              0              59
  22  KeyChain        -0.789         0.433          3.002          0              90             0              45
  23  Vase            -5.920         0.442          4.371          0              0              0              57
  24  Vase            -5.910         0.443          3.804          0              0              0              57
  25  Bowl            -0.535         0.795          6.357          0              270            0              46
  26  Pillow          -0.756         0.542          4.793          0              284.202        0              45
  27  Vase            -5.867         1.271          3.712          0              0              0              59
  28  RemoteControl   -3.067         0.455          7.070          0              90             0              54
  29  Watch           -3.265         0.880          7.173          0              90             0              53
  30  Statue          -2.696         1.271          7.103          0              162.053        0              61
  31  Statue          -5.854         1.272          4.074          0              0              0              59
  32  Statue          -5.592         0.543          6.647          0              45             0              63
  33  Statue          -3.128         1.271          7.139          0              96.687         0              61
  34  Mirror          -1.308         0.022          0.197          0              0              0
  35  DeskLamp        -0.600         0.797          1.955          0              0              0
  36  DeskLamp        -0.593         0.797          6.022          0              60.096         0
  37  FloorLamp       -4.615         0.016          0.314          0              0              0
  38  Television      -5.637         0.998          6.949          0              135            0
  39  LightSwitch     -4.419         1.279          0.0            0              0              0
  40  Painting        0.0            1.661          4.451          90             270            0
  41  Painting        0.0            1.661          3.414          90             270            0
  42  HousePlant      -5.884         1.296          4.516          0              0              0
  43  GarbageCan      -5.689         -0.024         0.242          0              0              0
  44  Window          -6.287         1.672          2.178          90             270            0
  45  Sofa            -0.773         0.023          3.915          0              270            0
  46  SideTable       -0.586         0.014          5.979          0              270            0
  47  SideTable       -0.585         0.014          2.002          0              270            0
  48  Chair           -3.539         0.015          2.007          0              15.000         0
  49  Chair           -2.268         0.015          1.955          0              345.000        0
  50  Shelf           -0.585         0.248          2.002          0              270            0
  51  Shelf           -0.586         0.248          5.979          0              270            0
  52  Shelf           -5.948         0.161          4.339          0              270            0
  53  Shelf           -2.853         0.898          7.174          0              180            0
  54  Shelf           -2.853         0.467          7.174          0              180            0
  55  Shelf           -5.948         0.898          4.335          0              270            0
  56  Shelf           -2.858         0.161          7.174          0              180            0
  57  Shelf           -5.948         0.467          4.335          0              270            0
  58  ShelvingUnit    -5.946         0.012          4.347          0              270            0
  59  Shelf           -5.948         1.293          4.349          0              270            0
  60  ShelvingUnit    -2.865         0.012          7.177          0              180            0
  61  Shelf           -2.868         1.293          7.174          0              180            0
  62  CoffeeTable     -2.492         0.018          4.043          0              270            0
  63  CoffeeTable     -5.555         0.018          6.835          0              315            0
  64  NorthWall
  65  SouthWall
  66  SouthWall

Plan:
STEP 1: Move across the room to the brown side table with shelves | STEP 2: Pick up the white tea pot on the bottom shelf of the side table | STEP 3: Carry the white tea pot over to the round wood table that has a lamp on top of it | STEP 4: Turn on the lamp | END