Task: Pick up a box and turn 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           -1.25          0.901          6.25           0              180            0
   1  Bowl            -0.585         0.795          2.252          0              270            0              40
   2  Bowl            -2.491         0.535          4.335          0              270            0              55
   3  Newspaper       -0.947         0.440          3.002          0              0              0              38
   4  Watch           -2.561         0.533          4.480          0              270            0              55
   5  Box             -5.983         0.162          5.764          0              347.562        0              49
   6  Statue          -2.186         1.276          7.177          0              0              0              54
   7  Vase            -2.811         0.534          3.919          0              0              0              55
   8  Vase            -2.870         1.289          7.298          0              90             0              54
   9  Newspaper       -0.868         0.365          4.828          0              0              0              38
  10  Laptop          -2.447         0.525          4.055          0              9.597          0              55
  11  WateringCan     -2.228         0.137          7.107          0              0              0
  12  Vase            -5.917         0.880          4.349          0              0              0              48
  13  CreditCard      -0.710         0.367          3.306          0              0              0              38
  14  Vase            -5.903         1.270          4.988          0              0              0              52
  15  KeyChain        -5.461         0.534          6.628          0              45             0              56
  16  Vase            -5.920         0.442          4.371          0              0              0              50
  17  Vase            -5.910         0.443          3.804          0              0              0              50
  18  Bowl            -0.326         0.795          1.951          0              0              0              40
  19  Pillow          -0.756         0.542          4.793          0              284.202        0              38
  20  Vase            -5.867         1.271          3.712          0              0              0              52
  21  RemoteControl   -2.640         1.282          7.361          0              90             0              54
  22  Watch           -5.290         0.533          7.024          0              135            0              56
  23  Statue          -2.696         1.271          7.103          0              162.053        0              54
  24  Statue          -5.854         1.272          4.074          0              0              0              52
  25  Statue          -2.561         0.543          3.752          0              270            0              55
  26  Statue          -3.128         1.271          7.139          0              96.687         0              54
  27  Mirror          -1.308         0.022          0.197          0              0              0
  28  DeskLamp        -0.600         0.797          1.955          0              0              0
  29  DeskLamp        -0.593         0.797          6.022          0              60.096         0
  30  FloorLamp       -4.615         0.016          0.314          0              0              0
  31  Television      -5.637         0.998          6.949          0              135            0
  32  LightSwitch     -4.419         1.279          0.0            0              0              0
  33  Painting        0.0            1.661          4.451          90             270            0
  34  Painting        0.0            1.661          3.414          90             270            0
  35  HousePlant      -5.884         1.296          4.516          0              0              0
  36  GarbageCan      -5.689         -0.024         0.242          0              0              0
  37  Window          -6.287         1.672          2.178          90             270            0
  38  Sofa            -0.773         0.023          3.915          0              270            0
  39  SideTable       -0.586         0.014          5.979          0              270            0
  40  SideTable       -0.585         0.014          2.002          0              270            0
  41  Chair           -3.539         0.015          2.007          0              15.000         0
  42  Chair           -2.268         0.015          1.955          0              345.000        0
  43  Shelf           -0.585         0.248          2.002          0              270            0
  44  Shelf           -0.586         0.248          5.979          0              270            0
  45  Shelf           -5.948         0.161          4.339          0              270            0
  46  Shelf           -2.853         0.898          7.174          0              180            0
  47  Shelf           -2.853         0.467          7.174          0              180            0
  48  Shelf           -5.948         0.898          4.335          0              270            0
  49  Shelf           -2.858         0.161          7.174          0              180            0
  50  Shelf           -5.948         0.467          4.335          0              270            0
  51  ShelvingUnit    -5.946         0.012          4.347          0              270            0
  52  Shelf           -5.948         1.293          4.349          0              270            0
  53  ShelvingUnit    -2.865         0.012          7.177          0              180            0
  54  Shelf           -2.868         1.293          7.174          0              180            0
  55  CoffeeTable     -2.492         0.018          4.043          0              270            0
  56  CoffeeTable     -5.555         0.018          6.835          0              315            0
  57  NorthWall
  58  SouthWall
  59  SouthWall

Plan:
STEP 1: Go right and cross the room to face the box on the floor. | STEP 2: Pick the box up from the floor. | STEP 3: Turn around and cross the room to face the small table with the lamp. | STEP 4: Turn on the lamp. | END