Task: Turn on the lamp with an empty box 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           -4.0           0.901          2.5            0              180            0
   1  Watch           -1.592         0.756          0.993          0              0              0              41
   2  Statue          -1.169         0.761          0.993          0              0              0              41
   3  KeyChain        -0.178         0.626          3.238          0              180            0              39
   4  CreditCard      -4.219         0.477          5.325          0              0              0              32
   5  CreditCard      -1.451         0.755          0.993          0              0              0              41
   6  RemoteControl   -2.136         0.844          6.832          0              0              0              38
   7  Box             -4.300         0.589          5.787          0              0              0              32
   8  Statue          -1.873         0.761          1.274          0              0              0              41
   9  Watch           -0.324         0.626          3.941          0              48.401         0              39
  10  WateringCan     -0.208         -0.000         3.225          0              63.928         0
  11  Laptop          -2.005         0.839          6.632          0              0              0              38
  12  CreditCard      -4.191         0.483          3.626          0              0              0              25
  13  KeyChain        -1.592         0.756          1.695          0              0              0              41
  14  Pillow          -2.403         0.529          3.626          0              0              0              31
  15  RemoteControl   -3.544         0.400          3.689          0              0              0              40
  16  Curtains        -0.037         2.148          0.999          0              0              0
  17  Painting        -0.016         2.061          5.380          0              0              0
  18  GarbageCan      -0.256         -0.010         6.799          0              0              0
  19  FloorLamp       -4.721         -0.001         3.687          0              0              0
  20  Television      -3.192         1.184          6.767          0              180            0
  21  HousePlant      -0.173         0.610          3.994          0              0              0
  22  LightSwitch     -3.483         1.470          0.001          0              0              0
  23  DeskLamp        -0.258         0.611          3.312          0              0              0
  24  Window          -0.008         1.340          1.725          90             270            0
  25  SideTable       -4.190         0.000          3.587          0              0              0
  26  Drawer          -2.925         0.475          6.717          0              180            0
  27  Drawer          -3.476         0.475          6.717          0              180            0
  28  Dresser         -3.201         -0.001         6.791          0              180            0
  29  Drawer          -2.925         0.165          6.719          0              180            0
  30  Drawer          -3.476         0.165          6.719          0              180            0
  31  ArmChair        -2.448         0.002          3.501          0              0              0
  32  Sofa            -4.425         0.014          5.062          0              90             0
  33  Ottoman         -2.374         0.000          4.483          0              0              0
  34  Chair           -2.151         0.004          1.284          0              90             0
  35  Chair           -1.549         0.004          1.780          0              195.000        0
  36  Chair           -1.626         0.004          0.778          0              10.166         0
  37  Chair           -1.076         0.004          1.292          0              265.171        0
  38  SideTable       -2.071         0.000          6.699          0              0              0
  39  SideTable       -0.244         -0.000         3.524          0              270            0
  40  ArmChair        -3.545         0.005          3.579          0              0              0
  41  DiningTable     -1.592         0.006          1.274          0              0              0
  42  NorthWall
  43  SouthWall
  44  SouthWall

Plan:
STEP 1: Turn left, walk straight to the window, turn right when you reach the window, walk straight to the small stand, turn left when you reach the small stand and walk straight to the couch. | STEP 2: Pick up the empty box on the couch. | STEP 3: Turn around to face the fireplace, walk straight to the fireplace, turn right when you reach the fireplace, walk straight to the big table and turn left to face the smaller table. | STEP 4: Turn on the lamp on the smaller table. | END