Task: turn on the lamp while holding the toy

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          -1.5           0              0              0
   1  Plate           3.786          0.643          -1.527         0              0              0              41
   2  Plate           0.332          0.339          0.651          0              0              0              45
   3  Statue          0.003          0.345          0.397          0              0              0              45
   4  Vase            -1.782         0.097          0.398          0              0              0              43
   5  KeyChain        0.167          0.336          0.397          0              0              0              45
   6  CellPhone       1.436          0.705          -0.773         0              270            0              33
   7  CellPhone       -1.819         0.094          0.895          0              0              0              43
   8  CreditCard      -2.197         0.596          1.096          0              0              0              42
   9  CreditCard      1.750          0.615          -0.731         0              270            0              34
  10  RemoteControl   -1.745         0.095          0.066          0              0              0              43
  11  RemoteControl   0.414          0.337          0.018          0              0              0              45
  12  Box             -0.221         0.122          -2.044         0              0              0              45
  13  Newspaper       -1.809         0.595          0.919          0              0              0              46
  14  CreditCard      -1.509         0.307          -1.613         0              240.000        0              24
  15  Vase            0.021          0.556          1.824          0              0              0              36
  16  KeyChain        1.267          0.706          -0.678         0              270            0              33
  17  Plate           3.685          0.643          -0.983         0              0              0              41
  18  Laptop          1.479          0.480          0.980          0              0              0              39
  19  CellPhone       0.250          0.336          0.397          0              0              0              45
  20  RemoteControl   1.605          0.708          -0.773         0              270            0              33
  21  Pillow          1.435          0.515          -0.125         0              0              0              39
  22  Vase            0.003          0.339          0.144          0              0              0              45
  23  Statue          0.003          0.345          0.777          0              0              0              45
  24  ArmChair        -1.761         0.0            -1.488         0              240.000        0
  25  Television      -2.035         1.081          0.555          0              90             0
  26  LightSwitch     2.099          1.353          -0.828         0              90             0
  27  HousePlant      -0.804         0.000          -2.187         0              0              0
  28  FloorLamp       1.689          0.002          1.776          0              90             0
  29  Painting        1.983          1.585          0.326          90             270            0
  30  GarbageCan      -1.891         -0.029         -0.409         0              0              0
  31  Window          2.775          1.281          -2.018         90             180            0
  32  Window          -0.013         1.289          -2.450         90             180            0
  33  SideTable       1.566          0.000          -0.689         0              180            0
  34  Drawer          1.566          0.624          -0.741         0              180            0
  35  Shelf           -0.147         0.172          1.925          0              0              0
  36  Shelf           -0.147         0.552          1.925          0              0              0
  37  Shelf           -0.147         0.880          1.924          0              0              0
  38  ShelvingUnit    -0.147         0.006          1.924          0              0              0
  39  Sofa            1.556          -0.004         0.424          0              270            0
  40  Shelf           0.167          0.104          0.200          0              270            0
  41  DiningTable     3.583          0.000          -1.164         0              270            0
  42  TVStand         -1.965         0.000          0.563          0              270            0
  43  Shelf           -1.964         0.082          0.563          0              270            0
  44  Shelf           -1.964         0.333          0.563          0              270            0
  45  CoffeeTable     0.167          0.001          0.216          0              270            0
  46
  47  NorthWall
  48  EastWall
  49  SouthWall
  50  WestWall

Plan:
STEP 1: turn left and head to the table | STEP 2: pick up the toy from the table | STEP 3: turn left to the lamp stand | STEP 4: turn on the lamp | END