Task: turn on a night table lamp while holding a box

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           1.75           0.901          -1.5           0              270            0
   1  Pencil          0.201          0.974          -1.631         0              270            0              33
   2  CreditCard      -0.673         0.605          -1.769         0              270            0              36
   3  KeyChain        0.000          0.973          -1.557         0              270            0              33
   4  KeyChain        0.120          0.411          -1.712         0              270            0              42
   5  Book            1.640          0.417          -0.247         0              0              0              43
   6  AlarmClock      0.402          0.972          -1.557         0              270            0              33
   7  Box             -1.751         0.252          1.499          0              340.773        0              Floor|+00.00|
   8  Book            2.135          0.417          0.252          0              0              0              43
   9  Cloth           -1.146         0.000          -2.123         0              0              0              Floor|+00.00|
  10  CellPhone       0.117          0.803          -1.711         0              270            0              38
  11  Pencil          0.000          0.975          -1.778         0              270            0              33
  12  AlarmClock      2.153          0.565          1.23           0              213.033        0              31
  13  TeddyBear       -2.236         0.000          1.457          0              319.128        0              Floor|+00.00|
  14  CreditCard      2.068          0.570          1.348          0              180            0              31
  15  KeyChain        1.593          0.041          -2.079         0              88.075         0              46
  16  Pillow          1.640          0.477          0.252          0              0              0              43
  17  Pillow          2.15           0.433          -0.241         0              282.078        0              43
  18  Laptop          0.897          0.413          0.419          0              0              0              43
  19  Bowl            -0.401         0.972          -1.705         0              270            0              33
  20  Cloth           -1.288         0.000          -1.936         0              357.341        356.936        Floor|+00.00|
  21  CD              2.298          0.569          1.240          0              180            0              31
  22  Pen             -0.200         0.977          -1.705         0              270            0              33
  23  DeskLamp        2.302          0.561          1.435          0              315            0
  24  GarbageCan      -2.208         -0.023         -1.742         0              77.663         0
  25  Poster          2.439          1.508          0.014          90             270            0
  26  LightSwitch     -2.457         1.274          -0.096         0              90             0
  27  Mirror          2.454          1.322          -1.414         0              90             0
  28  Window          -1.440         1.815          -2.354         90             0              0
  29  Window          1.401          1.815          -2.354         90             0              0
  30  Drawer          2.251          0.468          1.333          0              270            0
  31  SideTable       2.243          -0.001         1.331          0              270            0
  32  Drawer          -0.385         0.681          -1.631         0              0              0
  33  Dresser         0.011          0.001          -1.676         0              0              0
  34  Drawer          -0.385         0.105          -1.631         0              0              0
  35  Drawer          0.408          0.868          -1.632         0              0              0
  36  Drawer          -0.385         0.487          -1.631         0              0              0
  37  Drawer          -0.385         0.868          -1.632         0              0              0
  38  Drawer          0.408          0.681          -1.631         0              0              0
  39  Drawer          0.408          0.105          -1.631         0              0              0
  40  Drawer          0.408          0.292          -1.631         0              0              0
  41  Drawer          -0.385         0.292          -1.631         0              0              0
  42  Drawer          0.408          0.487          -1.631         0              0              0
  43  Bed             1.377          0.004          0.072          0              90             0
  44  Blinds          1.422          3.115          -2.339         0              0              0
  45  Blinds          -1.422         3.115          -2.339         0              0              0
  46  Safe            1.640          0.000          -2.040         0              355.244        0
  47  LaundryHamper   -1.564         0.001          -1.927         0              45             0
  48  NorthWall
  49  EastWall
  50  SouthWall
  51  WestWall

Plan:
STEP 1: walk to face room corner with teddy bear and box | STEP 2: pick up box from floor | STEP 3: walk to night table on left side of bed | STEP 4: turn on lamp on night table | END