Task: turn on desk lamp with statue 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           1.0            0.906          -0.75          0              180            0
   1  CD              -0.036         0.089          -1.492         0              270            0              27
   2  CellPhone       -0.792         0.983          -1.362         0              0              0              36
   3  CellPhone       -1.198         0.982          -1.281         0              0              0              36
   4  Pencil          -0.036         0.093          -1.608         0              270            0              27
   5  Pencil          -1.413         0.742          -1.345         0              0              0              35
   6  CreditCard      -0.995         0.981          -1.443         0              0              0              36
   7  Pillow          -1.571         0.952          2.039          0              0              0              30
   8  Laptop          -1.026         0.894          1.453          0              0              0              30
   9  Book            -1.572         1.537          -1.632         0              0              0              38
  10  Box             1.563          0.286          -1.069         0              347.500        0
  11  BasketBall      -1.657         0.126          -0.090         0              0              0
  12  Pen             -1.572         1.542          -1.514         0              0              0              38
  13  Pencil          -1.151         0.425          -1.390         0              0              0              37
  14  Laptop          -1.603         0.980          -1.524         0              0              0              36
  15  Pillow          -1.280         0.917          0.478          0              0              0              30
  16  KeyChain        -0.590         0.981          -1.281         0              0              0              36
  17  Bowl            -0.387         0.982          -1.281         0              0              0              36
  18  CreditCard      -0.995         0.982          -1.687         0              0              0              36
  19  CellPhone       -0.387         0.982          -1.606         0              0              0              36
  20  CD              -1.326         0.738          -1.255         0              0              0              35
  21  AlarmClock      -0.811         1.537          -1.671         0              0              0              38
  22  Mug             -0.995         0.979          -1.200         0              0              0              36
  23  Statue          -0.590         0.988          -1.524         0              0              0              36
  24  Mirror          1.907          1.387          0.973          0              90             0
  25  LaundryHamper   -0.351         0.007          2.368          0              164.999        0
  26  DeskLamp        -0.343         1.545          -1.564         0              0              0
  27  GarbageCan      -0.035         0.007          -1.530         0              270            0
  28  Window          1.009          1.514          -2.089         90             0              0
  29  LightSwitch     0.397          1.197          2.729          0              180            0
  30  Bed             -1.299         1.937          1.441          0              0              0
  31  Blinds          1.064          2.382          -2.094         0              0              0
  32  Chair           0.884          0.012          -1.433         0              29.871         0
  33  Chair           -0.646         0.007          -1.206         0              195.000        0
  34  Drawer          -1.409         0.233          -1.303         0              0              0
  35  Drawer          -1.407         0.847          -1.302         0              0              0
  36  Desk            -0.993         0.006          -1.410         0              0              0
  37  Drawer          -1.408         0.558          -1.302         0              0              0
  38  Shelf           0.003          0.013          0.035          0              0              0
  39  NorthWall
  40  EastWall
  41  SouthWall
  42  WestWall

Plan:
STEP 1: walk to face left side of desk | STEP 2: pick up human figurine statue from desk  | STEP 3: turn left to face wall to left of desk | STEP 4: turn on lamp above the desk | END