Task: Turn a lamp on with a pitcher in hand.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -5.25          0.905          3.75           0              270            0
   1  Statue          -2.707         1.105          4.226          0              0              0              20
   2  Statue          -2.412         1.107          4.226          0              0              0              20
   3  KeyChain        -2.855         1.098          4.080          0              0              0              20
   4  KeyChain        -2.084         0.455          2.030          0              0              0              34
   5  Laptop          -2.525         0.5            0.202          0              0              0              39
   6  Box             -1.7           0.307          4.296          0              0              0              Floor|-03.53|
   7  Watch           -4.400         0.412          0.296          0              0              0              36
   8  Pillow          -2.229         0.596          0.390          0              0              0              39
   9  WateringCan     -0.269         0.005          2.366          1.834          0              0              Floor|-03.53|
  10  Newspaper       -2.264         1.099          4.080          0              180            0              20
  11  KeyChain        -0.366         0.856          3.896          0              0              0              41
  12  Laptop          -2.820         0.5            0.578          0              0              0              39
  13  RemoteControl   -4.293         0.416          0.574          0              90             0              36
  14  CreditCard      -4.214         0.411          0.574          0              90             0              36
  15  Statue          -0.195         0.863          3.780          0              0              0              41
  16  Curtains        -0.089         2.460          2.111          0              0              0
  17  Curtains        -1.146         1.383          4.530          0              0              0
  18  Drawer          -2.288         0.267          4.112          0              180            0
  19  Drawer          -2.836         0.750          4.111          0              180            0
  20  Dresser         -2.560         0.005          4.224          0              180            0
  21  Drawer          -2.834         0.267          4.113          0              180            0
  22  Drawer          -2.288         0.749          4.110          0              180            0
  23  LightSwitch     -7.0           1.363          2.605          0              74.999         0
  24  Television      -2.554         1.583          4.300          0              180            0
  25  FloorLamp       -0.301         0.014          -0.129         1.374          0              0
  26  Painting        0.0            1.583          4.006          90             270            0
  27  DeskLamp        -6.766         0.411          -0.028         0              0              0
  28  GarbageCan      -4.115         -0.032         -0.161         0              0              0
  29  Painting        -3.704         1.718          4.600          90             180            0
  30  Window          -0.037         1.705          2.096          90             270            0
  31  Window          -1.157         1.697          4.593          90             180            0
  32  HousePlant      -0.287         0.395          2.108          0              0              0
  33  Chair           -6.022         0.005          0.092          0              338.430        0
  34  Ottoman         -1.773         0.004          1.807          0              0              0
  35  SideTable       -6.720         0.006          1.513          0              326.715        0
  36  SideTable       -4.292         0.006          0.413          0              0              0
  37  ArmChair        -4.384         0.008          1.395          0              90             0
  38  SideTable       -0.253         0.004          2.102          0              0              0
  39  Sofa            -2.524         0.010          0.263          0              0              0
  40  Drawer          -0.357         0.208          3.798          0              0              0
  41  Dresser         -0.271         0.004          4.011          0              270            0
  42  Drawer          -0.359         0.581          3.795          0              0              0
  43  Drawer          -0.357         0.583          4.225          0              0              0
  44  Drawer          -0.358         0.210          4.221          0              0              0
  45  DogBed          -0.844         0.007          0.138          0              90             0
  46  NorthWall
  47  EastWall
  48  SouthWall
  49  WestWall

Plan:
STEP 1: Go left and the right to face the plant on the ground in front of the window. | STEP 2: Pick the white pitcher off of the floor next to the plant. | STEP 3: Turn around and go forward and then left towards the lamp in the corner. | STEP 4: Turn the lamp on. | END