Task: Pick up a box 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           2.25           0.916          0.0            0              0              0
   1  Statue          -3.260         0.597          -0.357         0              0              0              50
   2  Newspaper       -0.145         0.166          2.419          0              0              0              65
   3  Newspaper       -2.739         0.569          2.012          0              270            0              55
   4  KeyChain        -0.145         0.662          1.891          0              0              0              57
   5  Book            -2.812         0.563          1.600          0              270            0              55
   6  CreditCard      -0.096         0.662          1.624          0              0              0              68
   7  Laptop          0.067          0.907          2.431          0              0              0              60
   8  Book            0.116          0.902          1.073          0              29.999         0              60
   9  Box             -2.812         0.753          1.187          0              270            0              55
  10  Statue          3.160          0.595          0.232          0              180            0              43
  11  CreditCard      0.249          0.909          1.946          0              0              0              60
  12  Laptop          -2.780         0.365          -1.874         0              0              0              37
  13  WateringCan     2.893          0.014          -1.916         0              328.832        0
  14  Newspaper       3.18           0.586          -0.543         0              259.747        0              54
  15  Vase            -2.168         1.195          -2.183         0              0              0
  16  CellPhone       -2.958         0.564          2.012          0              270            0              55
  17  RemoteControl   -0.295         0.910          1.460          0              0              0              60
  18  Vase            -1.046         1.195          -2.151         0              0              0
  19  Pillow          -2.893         0.616          0.818          0              0              0              55
  20  KeyChain        -0.096         0.156          0.830          0              90             0              56
  21  Cabinet         0.333          0.514          -2.015         0              0              0
  22  DeskLamp        3.143          0.591          1.457          0              270            0
  23  LightSwitch     -0.927         1.316          2.846          0              180            0
  24  HousePlant      0.491          0.874          -1.581         0              0              0
  25  Television      0.069          1.406          1.698          0              270            0
  26  GarbageCan      3.164          0.026          0.891          0              0              0
  27  Painting        -1.561         1.408          -2.318         90             180            0
  28  Painting        3.367          1.789          -0.949         90             270            0
  29  Painting        -3.488         1.386          -0.507         90             270            0
  30  FloorLamp       3.103          0.025          -2.341         0              135            0
  31  Window          1.133          1.218          -2.740         90             0              0
  32  Window          -3.368         1.180          -1.539         90             90             0
  33  Window          2.898          1.218          -2.740         90             0              0
  34  Window          2.006          1.218          -2.740         90             0              0
  35  Window          -0.193         1.157          -2.563         90             0              0
  36  Window          -2.970         1.157          -2.563         90             0              0
  37  ArmChair        -2.859         0.026          -2.036         0              29.994         0
  38  SideTable       -0.170         0.027          -2.279         0              0              0
  39  Drawer          -0.173         0.465          -2.135         0              0              0
  40  Drawer          3.104          0.167          1.400          0              270            0
  41  SideTable       3.163          0.032          1.400          0              270            0
  42  Drawer          3.103          0.418          1.401          0              270            0
  43  SideTable       3.163          0.032          0.364          0              270            0
  44  Drawer          -3.241         0.418          -0.490         0              90             0
  45  Drawer          3.104          0.167          -0.574         0              270            0
  46  SideTable       3.163          0.032          -0.574         0              270            0
  47  Drawer          3.104          0.167          0.364          0              270            0
  48  Drawer          3.104          0.419          -0.574         0              270            0
  49  Drawer          -3.241         0.167          -0.489         0              90             0
  50  SideTable       -3.300         0.032          -0.489         0              90             0
  51  Drawer          3.104          0.419          0.364          0              270            0
  52  Chair           1.049          0.031          -2.190         0              29.997         0
  53  DogBed          2.739          0.032          2.260          0              45             0
  54  Chair           2.037          0.031          -2.232         0              350.485        0
  55  Sofa            -2.957         0.032          1.393          0              90             0
  56  Drawer          -0.189         0.232          0.954          0              270            0
  57  Drawer          -0.415         0.854          1.921          0              270            0
  58  Drawer          -0.415         0.351          1.414          0              270            0
  59  Drawer          -0.415         0.603          1.414          0              270            0
  60  Dresser         -0.052         0.028          1.667          0              270            0
  61  Drawer          -0.190         0.484          0.954          0              270            0
  62  Drawer          -0.190         0.736          0.954          0              270            0
  63  Drawer          -0.415         0.603          1.921          0              270            0
  64  Drawer          -0.415         0.603          2.384          0              270            0
  65  Drawer          -0.415         0.351          2.384          0              270            0
  66  Drawer          -0.415         0.854          2.384          0              270            0
  67  Drawer          -0.415         0.351          1.921          0              270            0
  68  Drawer          -0.415         0.854          1.414          0              270            0
  69  Stool           3.135          0.029          -1.625         0              330.001        0
  70  Chair           1.631          0.029          2.210          0              161.562        0
  71  NorthWall
  72  EastWall
  73  SouthWall
  74  WestWall

Plan:
STEP 1: Go to the sofa | STEP 2: Pick up the box | STEP 3: Go to the small lamp table | STEP 4: Turn on the lamp | END