Task: Carry a statue while turning 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           -1.0           0.901          1.25           0              90             0
   1  Book            -2.824         0.565          0.568          0              0              0              34
   2  Watch           -1.966         0.448          2.280          0              0              0              30
   3  Watch           -1.798         0.710          3.649          0              0              0              32
   4  KeyChain        -1.714         0.448          2.120          0              0              0              30
   5  KeyChain        -3.200         0.564          0.661          0              0              0              34
   6  CreditCard      -2.824         0.563          0.288          0              0              0              34
   7  RemoteControl   0.880          0.719          0.177          0              0              0              29
   8  RemoteControl   -1.101         0.547          0.471          0              0              0              31
   9  Laptop          -1.602         0.544          0.650          0              0              0              31
  10  Laptop          -1.499         0.705          3.759          0              0              0              32
  11  Book            0.500          0.715          0.177          0              0              0              29
  12  Box             -1.587         0.636          2.521          0              0              0              30
  13  Laptop          -1.101         0.544          0.740          0              0              0              31
  14  KeyChain        0.627          0.240          0.585          0              0              0              33
  15  Pillow          -0.506         0.664          0.431          36.288         0              0              31
  16  Statue          -1.050         0.716          3.759          0              0              0              32
  17  RemoteControl   0.500          0.715          0.421          0              0              0              29
  18  CreditCard      -0.601         0.546          0.650          0              0              0              31
  19  Watch           -1.648         0.707          3.539          0              0              0              32
  20  Painting        -3.049         1.690          4.341          0              0              0
  21  Curtains        -3.973         2.254          1.453          0              0              0
  22  Painting        -1.096         1.773          -0.017         0              0              0
  23  LightSwitch     -0.129         1.407          4.348          0              180            0
  24  GarbageCan      -0.376         0.003          4.103          0              180            0
  25  Television      -1.504         1.189          4.126          0              180            0
  26  HousePlant      -2.015         0.447          2.357          0              0              0
  27  FloorLamp       -3.686         -0.001         4.013          0              0              0
  28  Window          -4.051         1.197          1.312          90             270            0
  29  SideTable       0.626          0.006          0.340          0              0              0
  30  CoffeeTable     -1.735         0.005          2.360          0              0              0
  31  Sofa            -1.135         -0.004         0.517          0              0              0
  32  TVStand         -1.566         0.004          3.869          0              0              0
  33  Shelf           0.622          0.238          0.340          0              0              0
  34  ArmChair        -3.063         0.000          0.517          0              0              0
  35  NorthWall
  36  EastWall
  37  SouthWall
  38  WestWall

Plan:
STEP 1: Move to the desk to the left of the trash bin | STEP 2: Pick up the black statue that is on top of the wood desk | STEP 3: Carry the statue to the lamp in the far corner of the room | STEP 4: Turn on the lamp | END