Task: grab the statue on the coffee table, turn on the floor lamp

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           2.5            0.900          -0.25          0              0              0
   1  KeyChain        0.085          0.336          0.524          0              90             0              37
   2  KeyChain        1.444          0.616          -0.791         0              0              0              26
   3  Laptop          0.250          0.333          0.271          0              0              0              37
   4  Box             -0.221         0.122          -2.044         0              0              0              37
   5  Newspaper       1.436          0.703          -0.710         0              0              0              26
   6  CreditCard      -1.809         0.596          1.096          0              0              0              34
   7  Vase            3.704          0.631          -1.009         0              0              0              33
   8  KeyChain        1.351          0.705          -0.646         0              0              0              25
   9  Plate           3.583          0.643          -1.527         0              0              0              33
  10  Laptop          3.685          0.637          -0.621         0              0              0              33
  11  CellPhone       -0.078         0.336          0.144          0              0              0              37
  12  RemoteControl   -1.782         0.095          0.729          0              0              0              35
  13  Pillow          1.435          0.515          -0.125         0              0              0              31
  14  Vase            0.250          0.339          0.651          0              0              0              37
  15  Statue          0.085          0.345          0.018          0              180            0              37
  16  ArmChair        -1.761         0.0            -1.488         0              240.000        0
  17  Television      -2.035         1.081          0.555          0              90             0
  18  LightSwitch     2.099          1.353          -0.828         0              90             0
  19  HousePlant      -0.804         0.000          -2.187         0              0              0
  20  FloorLamp       1.689          0.002          1.776          0              90             0
  21  Painting        1.983          1.585          0.326          90             270            0
  22  GarbageCan      -1.891         -0.029         -0.409         0              0              0
  23  Window          2.775          1.281          -2.018         90             180            0
  24  Window          -0.013         1.289          -2.450         90             180            0
  25  SideTable       1.566          0.000          -0.689         0              180            0
  26  Drawer          1.566          0.624          -0.741         0              180            0
  27  Shelf           -0.147         0.172          1.925          0              0              0
  28  Shelf           -0.147         0.552          1.925          0              0              0
  29  Shelf           -0.147         0.880          1.924          0              0              0
  30  ShelvingUnit    -0.147         0.006          1.924          0              0              0
  31  Sofa            1.556          -0.004         0.424          0              270            0
  32  Shelf           0.167          0.104          0.200          0              270            0
  33  DiningTable     3.583          0.000          -1.164         0              270            0
  34  TVStand         -1.965         0.000          0.563          0              270            0
  35  Shelf           -1.964         0.082          0.563          0              270            0
  36  Shelf           -1.964         0.333          0.563          0              270            0
  37  CoffeeTable     0.167          0.001          0.216          0              270            0
  38  NorthWall
  39  EastWall
  40  SouthWall
  41  WestWall

Plan:
STEP 1: turn around, walk to the door, turn right walk to the coffee table on the right | STEP 2: grab the the statue on the table | STEP 3: turn right, walk across the room to the corner | STEP 4: turn on the floor lamp | END