Task: Carry a tea pot 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           -3.0           0.901          1.75           0              270            0
   1  Bowl            -3.067         0.881          7.208          0              90             0              47
   2  Watch           -2.700         0.533          3.898          0              270            0              56
   3  Watch           -0.326         0.793          2.103          0              0              0              41
   4  KeyChain        -5.215         0.534          7.175          0              135            0              57
   5  CreditCard      -5.594         0.533          6.645          0              135            0              57
   6  Box             -5.983         0.162          5.764          0              347.562        0              50
   7  Statue          -2.186         1.276          7.177          0              0              0              55
   8  Vase            -6.053         0.147          3.954          0              0              0              46
   9  Vase            -5.920         0.442          4.915          0              0              0              51
  10  Newspaper       -0.868         0.438          3.306          0              0              0              39
  11  Laptop          -2.447         0.525          4.055          0              9.597          0              56
  12  WateringCan     -2.228         0.137          7.107          0              0              0
  13  Vase            -5.909         0.871          4.924          0              0              0              49
  14  CreditCard      -3.067         0.146          7.225          0              90             0              50
  15  Vase            -5.903         1.270          4.988          0              0              0              53
  16  KeyChain        -0.738         0.794          5.600          0              270            0              40
  17  Vase            -5.920         0.442          4.371          0              0              0              51
  18  Vase            -5.910         0.443          3.804          0              0              0              51
  19  Bowl            -5.349         0.535          6.740          0              45             0              57
  20  Pillow          -0.756         0.542          4.793          0              284.202        0              39
  21  Vase            -5.867         1.271          3.712          0              0              0              53
  22  RemoteControl   -0.868         0.441          4.524          0              0              0              39
  23  Watch           -0.845         0.793          2.002          0              0              0              41
  24  Statue          -2.811         0.540          4.106          0              0              0              56
  25  Statue          -2.492         0.535          3.752          0              180            0              56
  26  Statue          -2.870         1.289          7.235          0              0              0              55
  27  Statue          -3.128         1.271          7.139          0              96.687         0              55
  28  Mirror          -1.308         0.022          0.197          0              0              0
  29  DeskLamp        -0.600         0.797          1.955          0              0              0
  30  DeskLamp        -0.593         0.797          6.022          0              60.096         0
  31  FloorLamp       -4.615         0.016          0.314          0              0              0
  32  Television      -5.637         0.998          6.949          0              135            0
  33  LightSwitch     -4.419         1.279          0.0            0              0              0
  34  Painting        0.0            1.661          4.451          90             270            0
  35  Painting        0.0            1.661          3.414          90             270            0
  36  HousePlant      -5.884         1.296          4.516          0              0              0
  37  GarbageCan      -5.689         -0.024         0.242          0              0              0
  38  Window          -6.287         1.672          2.178          90             270            0
  39  Sofa            -0.773         0.023          3.915          0              270            0
  40  SideTable       -0.586         0.014          5.979          0              270            0
  41  SideTable       -0.585         0.014          2.002          0              270            0
  42  Chair           -3.539         0.015          2.007          0              15.000         0
  43  Chair           -2.268         0.015          1.955          0              345.000        0
  44  Shelf           -0.585         0.248          2.002          0              270            0
  45  Shelf           -0.586         0.248          5.979          0              270            0
  46  Shelf           -5.948         0.161          4.339          0              270            0
  47  Shelf           -2.853         0.898          7.174          0              180            0
  48  Shelf           -2.853         0.467          7.174          0              180            0
  49  Shelf           -5.948         0.898          4.335          0              270            0
  50  Shelf           -2.858         0.161          7.174          0              180            0
  51  Shelf           -5.948         0.467          4.335          0              270            0
  52  ShelvingUnit    -5.946         0.012          4.347          0              270            0
  53  Shelf           -5.948         1.293          4.349          0              270            0
  54  ShelvingUnit    -2.865         0.012          7.177          0              180            0
  55  Shelf           -2.868         1.293          7.174          0              180            0
  56  CoffeeTable     -2.492         0.018          4.043          0              270            0
  57  CoffeeTable     -5.555         0.018          6.835          0              315            0
  58  NorthWall
  59  SouthWall
  60  SouthWall

Plan:
STEP 1: Move across the room to the right side of the large brown side table  | STEP 2: Pick up the tea pot from the bottom shelf on the side table  | STEP 3: Carry the tea pot to the lamp on top of the small round end table | STEP 4: Turn on the lamp | END