Task: Hold a box and turn on a lamp.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -3.75          0.906          0.75           0              0              0
   1  Watch           -0.253         0.762          2.828          0              270            0              42
   2  Statue          -0.478         0.769          2.828          0              270            0              42
   3  KeyChain        -0.594         0.377          0.571          0              0              0              36
   4  KeyChain        -1.631         0.419          4.412          0              0              0              45
   5  CreditCard      -0.403         0.761          3.128          0              270            0              42
   6  RemoteControl   -0.178         0.763          2.678          0              270            0              42
   7  Box             -2.618         0.521          4.649          0              0              0              45
   8  Pillow          -4.424         0.484          2.640          0              270            0              44
   9  Box             -2.111         0.293          2.930          0              0              0              35
  10  CreditCard      -0.499         0.426          3.202          0              270            0              37
  11  TissueBox       -0.499         0.183          3.046          0              270            0              43
  12  Laptop          -0.335         0.758          2.38           0              33.790         0              42
  13  Vase            -2.880         1.518          0.144          0              0              0
  14  RemoteControl   -1.063         0.378          0.571          0              0              0              36
  15  Pillow          -1.379         0.479          4.520          0              0              0              45
  16  KeyChain        -1.816         0.195          2.528          0              0              0              35
  17  Watch           -1.816         0.198          2.986          0              0              0              35
  18  Newspaper       -1.816         0.197          2.299          0              0              0              35
  19  Statue          -0.253         0.772          2.978          0              270            0              42
  20  Statue          -0.427         0.495          2.362          0              270            0              39
  21  Curtains        -1.030         2.113          0.0            0              0              0
  22  Curtains        -3.927         2.113          0.0            0              0              0
  23  HousePlant      -3.127         1.507          0.118          0              0              0
  24  Television      0.0            1.376          2.661          0              270            0
  25  GarbageCan      -0.227         0.005          4.778          0              0              0
  26  DeskLamp        -4.658         0.508          3.318          0              270            0
  27  Painting        -2.507         1.817          0.108          90             0              0
  28  FloorLamp       -4.596         0.006          0.399          0              65.211         0
  29  LightSwitch     -3.233         1.343          5.0            0              180            0
  30  Window          -1.011         1.391          0.029          90             180            0
  31  Window          -3.900         1.391          0.029          90             180            0
  32  Drawer          -4.433         0.473          3.344          0              90             0
  33  SideTable       -4.612         0.009          3.346          0              90             0
  34  Chair           -4.572         0.005          3.862          0              113.899        0
  35  CoffeeTable     -1.972         0.002          2.615          0              270            0
  36  ArmChair        -0.875         0.005          0.566          0              0              0
  37  Shelf           -0.340         0.480          3.046          0              270            0
  38  Shelf           -0.340         0.649          3.046          0              270            0
  39  Shelf           -0.340         0.603          2.312          0              270            0
  40  Shelf           -0.340         0.448          2.678          0              270            0
  41  Shelf           -0.340         0.308          2.312          0              270            0
  42  TVStand         -0.335         0.005          2.679          0              270            0
  43  Shelf           -0.340         0.279          3.046          0              270            0
  44  Sofa            -4.566         0.009          1.880          0              90             0
  45  Sofa            -2.124         0.009          4.558          0              180            0
  46  NorthWall
  47  SouthWall
  48  SouthWall

Plan:
STEP 1: Move forward and then turn right. Face the coffee table to the right side. | STEP 2: Pick up the box from the table. | STEP 3: Carry the box and turn right towards the couch. | STEP 4: Hold the box and turn on the lamp that's on the table beside the couch. | END