Task: Turn on the light that is on the end table.

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  TissueBox       -0.175         0.129          1.129          0              0              0              36
   2  Newspaper       -1.226         0.127          1.202          0              0              0              36
   3  Newspaper       -0.806         0.127          1.202          0              0              0              36
   4  Box             -3.780         1.305          0.457          0              0              0              26
   5  Vase            -0.971         0.114          1.197          0              0              0              36
   6  TissueBox       -4.005         1.066          0.589          0              0              0              26
   7  Newspaper       1.492          0.649          -1.488         0              0              0              31
   8  KeyChain        0.817          0.660          1.342          0              0              0              27
   9  Vase            1.492          0.665          -1.338         0              0              0              31
  10  Statue          -1.29          0.891          1.219          0              180            0              38
  11  RemoteControl   0.747          0.458          1.068          0              0              0              28
  12  Pillow          -1.827         0.585          -1.251         0              0              0              29
  13  CreditCard      1.829          0.656          -1.338         0              0              0              31
  14  Laptop          0.434          0.541          -1.187         0              0              0              35
  15  Vase            -0.516         0.114          1.201          0              0              0              36
  16  Statue          -4.165         1.166          0.192          0              270            0              26
  17  DeskLamp        1.657          0.654          -1.605         0              0              0
  18  FloorLamp       -4.569         0.005          -1.616         0              15.092         0
  19  LightSwitch     -2.464         1.230          -1.950         0              0              0
  20  GarbageCan      -4.581         -0.032         1.126          0              90             0
  21  Television      -0.549         1.516          1.450          0              180            0
  22  HousePlant      1.555          0.650          1.166          0              0              0
  23  Window          -2.012         1.501          1.468          90             0              0
  24  Window          0.986          1.501          1.468          90             0              0
  25  Painting        -0.698         1.835          -1.911         90             0              0
  26  DiningTable     -3.941         0.005          0.257          0              0              0
  27  SideTable       1.102          -0.000         1.118          0              180            0
  28  Drawer          1.103          0.519          0.834          0              180            0
  29  ArmChair        -1.832         0.010          -1.349         0              0              0
  30  Drawer          1.581          0.523          -1.199         0              0              0
  31  SideTable       1.581          0.003          -1.488         0              0              0
  32  Painting        -4.910         1.763          -0.098         90             270            0
  33  Chair           -4.398         0.002          0.274          0              85.162         0
  34  Chair           -3.825         0.002          -0.223         0              340.163        0
  35  Sofa            0.057          -0.002         -1.386         0              0              0
  36  Shelf           -0.552         0.114          1.252          0              180            0
  37  Drawer          -1.020         0.728          1.032          0              180            0
  38  SideTable       -0.589         0.000          1.227          0              180            0
  39  Drawer          -0.157         0.728          1.032          0              180            0
  40  NorthWall
  41  EastWall
  42  SouthWall
  43  WestWall

Plan:
STEP 1: Walk straight then take a quick right to go around the chair then a left to walk towards the shelf. | STEP 2: Pick up the CD from the shelf. | STEP 3: Turn to the right walk straight to the other table then turn around to walk towards the wall then make a right to go to the end table next to the couch. | STEP 4: Turn on the lamp that is sitting on the end table while still holding the CD. | END