Task: Turn a lamp on with a 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           -3.25          0.901          2.0            0              0              0
   1  Statue          -4.228         0.489          3.626          0              0              0              24
   2  Statue          -2.014         0.761          1.695          0              0              0              40
   3  CreditCard      -4.380         0.483          5.094          0              0              0              31
   4  CreditCard      -3.356         0.375          6.699          0              0              0              26
   5  Box             -1.732         0.867          0.993          0              90             0              40
   6  Box             -4.300         0.589          5.556          0              180            0              31
   7  Statue          -2.071         0.847          6.765          0              0              0              37
   8  Watch           -0.349         0.626          3.918          0              48.401         0              38
   9  WateringCan     -0.208         -0.000         3.225          0              63.928         0
  10  Laptop          -1.683         0.747          1.489          0              338.703        0              40
  11  CreditCard      -4.461         0.477          4.863          0              0              0              31
  12  KeyChain        -3.652         0.698          6.743          0              0              0              27
  13  Pillow          -4.335         0.465          4.398          0              0              0              31
  14  RemoteControl   -1.592         0.758          1.274          0              0              0              40
  15  Curtains        -0.037         2.148          0.999          0              0              0
  16  Painting        -0.016         2.061          5.380          0              0              0
  17  GarbageCan      -0.256         -0.010         6.799          0              0              0
  18  FloorLamp       -4.721         -0.001         3.687          0              0              0
  19  Television      -3.192         1.184          6.767          0              180            0
  20  HousePlant      -0.173         0.610          3.994          0              0              0
  21  LightSwitch     -3.483         1.470          0.001          0              0              0
  22  DeskLamp        -0.258         0.611          3.312          0              0              0
  23  Window          -0.008         1.340          1.725          90             270            0
  24  SideTable       -4.190         0.000          3.587          0              0              0
  25  Drawer          -2.925         0.475          6.717          0              180            0
  26  Drawer          -3.476         0.475          6.717          0              180            0
  27  Dresser         -3.201         -0.001         6.791          0              180            0
  28  Drawer          -2.925         0.165          6.719          0              180            0
  29  Drawer          -3.476         0.165          6.719          0              180            0
  30  ArmChair        -2.448         0.002          3.501          0              0              0
  31  Sofa            -4.425         0.014          5.062          0              90             0
  32  Ottoman         -2.374         0.000          4.483          0              0              0
  33  Chair           -2.151         0.004          1.284          0              90             0
  34  Chair           -1.549         0.004          1.780          0              195.000        0
  35  Chair           -1.626         0.004          0.778          0              10.166         0
  36  Chair           -1.076         0.004          1.292          0              265.171        0
  37  SideTable       -2.071         0.000          6.699          0              0              0
  38  SideTable       -0.244         -0.000         3.524          0              270            0
  39  ArmChair        -3.545         0.005          3.579          0              0              0
  40  DiningTable     -1.592         0.006          1.274          0              0              0
  41  NorthWall
  42  SouthWall
  43  SouthWall

Plan:
STEP 1: Go to the left and face the small table with the statue to the left of the couch. | STEP 2: Pick the statue up from the small table. | STEP 3: Go a bit more to stand in front of the lamp. | STEP 4: Turn the lamp on. | END