Task: get a ring 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           -4.25          0.905          2.5            0              90             0
   1  Statue          -2.707         1.107          4.226          0              0              0              25
   2  Watch           -4.371         0.416          0.574          0              90             0              41
   3  Watch           -2.289         0.605          4.151          0              90             0              24
   4  Watch           -4.175         0.412          0.414          0              90             0              41
   5  KeyChain        -2.525         0.502          0.296          0              0              0              44
   6  CreditCard      -0.305         0.095          3.930          0              0              0              45
   7  CreditCard      -1.565         0.454          1.925          0              0              0              39
   8  RemoteControl   -1.638         0.503          0.484          0              0              0              44
   9  Box             -2.820         0.798          0.296          0              180            0              44
  10  Laptop          -1.773         0.452          1.612          0              0              0              39
  11  Box             -1.7           0.307          4.296          0              0              0              Floor|-03.53|
  12  Watch           -2.264         1.100          4.299          0              0              0              25
  13  Pillow          -1.830         0.597          0.222          0              0              0              44
  14  WateringCan     -0.269         0.005          2.366          1.834          0              0              Floor|-03.53|
  15  Newspaper       -1.820         0.513          0.583          0              346.933        0              44
  16  KeyChain        -0.275         0.474          3.885          0              0              0              47
  17  Laptop          -3.292         0.486          0.396          0              40.455         0              44
  18  RemoteControl   -0.334         0.095          4.271          0              0              0              49
  19  CreditCard      -4.489         0.421          1.218          0              0              0              42
  20  Statue          -0.195         0.867          3.780          0              0              0              46
  21  Curtains        -0.089         2.460          2.111          0              0              0
  22  Curtains        -1.146         1.383          4.530          0              0              0
  23  Drawer          -2.288         0.267          4.112          0              180            0
  24  Drawer          -2.836         0.750          4.111          0              180            0
  25  Dresser         -2.560         0.005          4.224          0              180            0
  26  Drawer          -2.834         0.267          4.113          0              180            0
  27  Drawer          -2.288         0.749          4.110          0              180            0
  28  LightSwitch     -7.0           1.363          2.605          0              74.999         0
  29  Television      -2.554         1.583          4.300          0              180            0
  30  FloorLamp       -0.301         0.014          -0.129         1.374          0              0
  31  Painting        0.0            1.583          4.006          90             270            0
  32  DeskLamp        -6.766         0.411          -0.028         0              0              0
  33  GarbageCan      -4.115         -0.032         -0.161         0              0              0
  34  Painting        -3.704         1.718          4.600          90             180            0
  35  Window          -0.037         1.705          2.096          90             270            0
  36  Window          -1.157         1.697          4.593          90             180            0
  37  HousePlant      -0.287         0.395          2.108          0              0              0
  38  Chair           -6.022         0.005          0.092          0              338.430        0
  39  Ottoman         -1.773         0.004          1.807          0              0              0
  40  SideTable       -6.720         0.006          1.513          0              326.715        0
  41  SideTable       -4.292         0.006          0.413          0              0              0
  42  ArmChair        -4.384         0.008          1.395          0              90             0
  43  SideTable       -0.253         0.004          2.102          0              0              0
  44  Sofa            -2.524         0.010          0.263          0              0              0
  45  Drawer          -0.357         0.208          3.798          0              0              0
  46  Dresser         -0.271         0.004          4.011          0              270            0
  47  Drawer          -0.359         0.581          3.795          0              0              0
  48  Drawer          -0.357         0.583          4.225          0              0              0
  49  Drawer          -0.358         0.210          4.221          0              0              0
  50  DogBed          -0.844         0.007          0.138          0              90             0
  51  NorthWall
  52  EastWall
  53  SouthWall
  54  WestWall

Plan:
STEP 1: go to the dresser | STEP 2: take the ring sitting on top of the dresser by the t.v. | STEP 3: take the ring to the stand with the lamp | STEP 4: turn on the lamp  | END