Task: Carry a box while turning 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           -0.25          0.900          -0.25          0              90             0
   1  Pen             2.008          0.458          -0.729         0              0              0              29
   2  RemoteControl   1.904          0.454          -0.729         0              0              0              29
   3  RemoteControl   1.183          0.474          0.267          0              180            0              28
   4  Box             -0.29          1.074          -0.714         0              270            0              Floor|+00.00|
   5  Newspaper       1.324          0.476          0.676          0              180            0              28
   6  Laptop          1.805          0.47           0.499          0              0              0              28
   7  WateringCan     1.621          0.056          -0.697         0              0              0              33
   8  TissueBox       1.324          0.475          0.512          0              180            0              28
   9  KeyChain        -0.624         0.840          -0.77          0              0              0              32
  10  Pen             1.696          0.458          -0.691         0              0              0              29
  11  Boots           4.005          0.001          1.707          1.563          246.167        0
  12  Pencil          -0.178         0.843          -0.916         0              0              0              32
  13  RemoteControl   1.174          0.337          1.673          0              0              0              36
  14  CreditCard      1.800          0.452          -0.767         0              0              0              29
  15  Pillow          0.651          0.395          1.708          0              0              0              18
  16  Statue          4.007          0.879          0.760          0              270            0              37
  17  Statue          -0.080         0.467          -0.691         0              0              0              34
  18  Sofa            1.174          0.0            1.865          0              0              0
  19  FloorLamp       3.608          0.000          2.163          0              0              0
  20  GarbageCan      3.833          -0.029         -0.495         0              0              0
  21  Television      1.897          1.281          -0.838         0              0              0
  22  Painting        4.070          1.950          0.848          90             270            0
  23  HousePlant      0.387          0.801          -0.725         0              90             0
  24  Window          0.023          2.072          2.484          90             180            0
  25  Window          1.570          2.072          2.484          90             180            0
  26  LightSwitch     -1.399         1.289          1.835          0              90             0
  27  ArmChair        2.655          0.000          1.858          0              180            0
  28  CoffeeTable     1.591          -0.000         0.446          0              180            0
  29  Shelf           1.905          0.588          -0.730         0              0              0
  30  TVStand         1.904          -0.000         -0.770         0              0              0
  31  Shelf           -0.289         0.200          -0.732         0              0              0
  32  TVStand         -0.290         -0.000         -0.772         0              0              0
  33  Shelf           1.905          0.200          -0.730         0              0              0
  34  Shelf           -0.289         0.588          -0.732         0              0              0
  35  ArmChair        -0.270         0.000          1.870          0              181.372        0
  36  Sofa            1.193          0.008          1.865          0              180            0
  37  SideTable       3.946          0.000          0.865          0              270            0
  38  Drawer          3.882          0.774          0.864          0              270            0
  39  NorthWall
  40  EastWall
  41  SouthWall
  42  WestWall

Plan:
STEP 1: Turn right facing the empty box on the red table | STEP 2: Pick up the empty box on top of the table | STEP 3: Carry the box to the corner of the room where the floor lamp is | STEP 4: Turn on the lamp | END