Task: turn on a floor lamp with sausage sculpture 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           2.25           0.900          1.0            0              180            0
   1  Plate           -1.856         0.454          -0.364         0              0              0              38
   2  Box             -2.020         0.599          0.145          0              90             0              38
   3  Laptop          -3.428         0.582          -0.552         0              0              0              32
   4  Laptop          1.219          0.782          -0.168         0              0              0              37
   5  Pillow          -3.341         0.645          0.468          0              0              0              32
   6  Box             2.327          0.936          -0.415         0              0              0              37
   7  Candle          -1.938         0.447          0.273          0              0              0              38
   8  Vase            -1.856         0.447          -0.109         0              0              0              38
   9  CreditCard      -1.747         0.232          2.900          0              0              0              33
  10  Vase            -2.102         0.458          -0.237         0              0              0              38
  11  WateringCan     -3.252         -0.000         -1.861         0              0              0
  12  Laptop          2.105          0.782          -0.045         0              0              0              37
  13  RemoteControl   -2.266         0.450          -0.237         0              0              0              38
  14  Statue          -3.592         0.705          1.431          0              90             0              35
  15  KeyChain        -0.649         0.191          1.923          0              270            0              29
  16  Pillow          -1.921         0.36           -1.500         0              0              0              31
  17  Plate           -1.480         0.716          2.831          0              0              0              34
  18  Statue          -1.856         0.459          0.145          0              90             0              38
  19  LightSwitch     -3.900         1.284          1.684          0              90             0
  20  GarbageCan      0.299          5.066          1.253          0              2.215          0
  21  FloorLamp       -0.331         0.001          2.728          0              0              0
  22  Painting        -0.056         1.601          1.733          90             270            0
  23  Painting        4.136          1.590          -0.296         90             270            0
  24  Television      -1.859         1.200          2.702          358.970        180            0
  25  HousePlant      -3.580         0.604          -1.617         0              0              0
  26  Window          1.478          1.506          -1.927         90             0              0
  27  Window          -2.003         1.506          -1.927         90             0              0
  28  Window          3.480          1.506          -1.927         90             0              0
  29  ArmChair        -0.437         0.005          1.923          0              270            0
  30  ArmChair        -0.430         0.005          1.062          0              270            0
  31  ArmChair        -2.004         0.005          -1.578         0              0              0
  32  Sofa            -3.419         0.009          -0.042         0              90             0
  33  DiningTable     -1.857         0.231          2.787          0              0              0
  34  TVStand         -1.857         0.000          2.788          0              0              0
  35  SideTable       -3.597         0.004          1.437          0              0              0
  36  SideTable       -3.597         0.004          -1.607         0              0              0
  37  DiningTable     1.883          0.000          -0.291         0              0              0
  38  CoffeeTable     -2.023         0.005          0.018          0              270            0
  39  Chair           1.462          -0.001         0.195          0              164.999        0
  40  Chair           2.288          -0.001         -0.780         0              0              0
  41  Chair           2.223          -0.001         0.149          0              186.648        0
  42  Chair           1.638          -0.001         -0.847         0              0              0
  43  NorthWall
  44  EastWall
  45  SouthWall
  46  WestWall

Plan:
STEP 1: walk into living room to face the coffee table | STEP 2: pick up the grey sausage like sculpture from the table | STEP 3: walk to face the floor lamp | STEP 4: turn on the floor lamp | END