Task: Grab the box on the table, turn off 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           -1.0           0.901          5.25           0              90             0
   1  Watch           -1.310         0.756          0.852          0              0              0              38
   2  KeyChain        -0.437         0.626          3.524          0              0              0              36
   3  CreditCard      -2.014         0.755          0.852          0              0              0              38
   4  Box             -1.873         0.867          1.133          0              180            0              38
   5  Statue          -1.732         0.761          0.993          0              0              0              38
   6  Watch           -3.104         0.066          6.748          0              0              0              26
   7  WateringCan     -0.208         -0.000         3.225          0              63.928         0
   8  Laptop          -4.380         0.475          5.787          0              0              0              29
   9  CreditCard      -1.169         0.755          1.554          0              0              0              38
  10  KeyChain        -4.228         0.484          3.664          0              0              0              22
  11  Pillow          -4.335         0.465          4.398          0              0              0              29
  12  RemoteControl   -4.304         0.486          3.549          0              0              0              22
  13  Curtains        -0.037         2.148          0.999          0              0              0
  14  Painting        -0.016         2.061          5.380          0              0              0
  15  GarbageCan      -0.256         -0.010         6.799          0              0              0
  16  FloorLamp       -4.721         -0.001         3.687          0              0              0
  17  Television      -3.192         1.184          6.767          0              180            0
  18  HousePlant      -0.173         0.610          3.994          0              0              0
  19  LightSwitch     -3.483         1.470          0.001          0              0              0
  20  DeskLamp        -0.258         0.611          3.312          0              0              0
  21  Window          -0.008         1.340          1.725          90             270            0
  22  SideTable       -4.190         0.000          3.587          0              0              0
  23  Drawer          -2.925         0.475          6.717          0              180            0
  24  Drawer          -3.476         0.475          6.717          0              180            0
  25  Dresser         -3.201         -0.001         6.791          0              180            0
  26  Drawer          -2.925         0.165          6.719          0              180            0
  27  Drawer          -3.476         0.165          6.719          0              180            0
  28  ArmChair        -2.448         0.002          3.501          0              0              0
  29  Sofa            -4.425         0.014          5.062          0              90             0
  30  Ottoman         -2.374         0.000          4.483          0              0              0
  31  Chair           -2.151         0.004          1.284          0              90             0
  32  Chair           -1.549         0.004          1.780          0              195.000        0
  33  Chair           -1.626         0.004          0.778          0              10.166         0
  34  Chair           -1.076         0.004          1.292          0              265.171        0
  35  SideTable       -2.071         0.000          6.699          0              0              0
  36  SideTable       -0.244         -0.000         3.524          0              270            0
  37  ArmChair        -3.545         0.005          3.579          0              0              0
  38  DiningTable     -1.592         0.006          1.274          0              0              0
  39  NorthWall
  40  SouthWall
  41  SouthWall

Plan:
STEP 1: Turn right, and walk to the dining table, turn right, and turn left to the side of dining table | STEP 2: Grab the box on the table | STEP 3: Turn left and walk to the floor lamp | STEP 4: Turn off the floor lamp by the sofa | END