Task: Pick up the box and turn the lamp on that is on the brown side table.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -6.5           0.900          4.25           0              0              0
   1  Plate           0.732          0.552          6.556          0              0              0              34
   2  Statue          -1.369         0.319          2.386          0              39.022         0              36
   3  Statue          -1.561         0.323          2.707          0              39.022         0              36
   4  Newspaper       -5.392         0.786          4.246          0              0              0              37
   5  KeyChain        -2.173         0.522          3.365          0              128.001        0              45
   6  CellPhone       -6.009         0.785          5.575          0              0              0              37
   7  CreditCard      -5.885         0.786          5.132          0              0              0              37
   8  CreditCard      -1.940         0.523          3.496          0              38.001         0              45
   9  RemoteControl   0.922          0.544          6.643          0              0              0              34
  10  Box             -3.311         0.744          1.647          0              270            0              33
  11  Box             -1.591         0.498          2.277          0              26.831         0              36
  12  CellPhone       -1.905         0.312          2.655          0              39.022         0              36
  13  WateringCan     0.829          -0.001         2.339          0              45             0              Floor|-03.10|
  14  Newspaper       0.847          0.981          3.921          0              90             0              49
  15  KeyChain        -1.951         0.527          3.818          0              218.001        0              45
  16  Plate           -5.807         0.781          4.222          0              0              0              37
  17  Pillow          -2.719         0.609          2.768          0              320.647        0              45
  18  RemoteControl   -1.198         0.310          2.412          0              39.022         0              36
  19  CreditCard      0.847          0.982          3.714          0              0              0              49
  20  Laptop          -5.464         0.779          5.252          0              306.871        0              37
  21  Statue          -1.299         0.323          2.659          0              39.022         0              36
  22  Curtains        -1.046         3.500          2.880          0              0              0
  23  HousePlant      -3.580         0.548          1.659          0              0              0
  24  Television      0.852          1.460          3.726          357.954        270            0
  25  Painting        -3.813         1.809          1.008          90             90             0
  26  DeskLamp        0.890          0.545          6.822          0              0              0
  27  GarbageCan      -7.102         -0.044         2.295          0              90             0
  28  FloorLamp       -3.494         0.006          0.390          0              0              0
  29  LightSwitch     -5.234         1.391          7.031          0              180            0
  30  Window          -1.985         1.646          -0.009         90             180            0
  31  Window          -4.909         0.990          2.015          90             180            0
  32  Window          -5.796         1.072          1.871          90             180            0
  33  SideTable       -3.407         0.005          1.656          0              270            0
  34  SideTable       0.732          0.005          6.634          0              270            0
  35  Chair           -0.139         0.005          6.412          0              149.999        0
  36  CoffeeTable     -1.546         0.004          2.528          0              39.022         0
  37  DiningTable     -5.639         -0.003         4.910          0              270            0
  38  Chair           -3.159         0.005          0.869          0              97.469         0
  39  Chair           -5.192         0.002          4.682          0              281.219        0
  40  Chair           -5.181         0.002          5.293          0              266.218        0
  41  Chair           -6.046         0.002          4.560          0              86.218         0
  42  Chair           -5.624         0.002          5.750          0              180            0
  43  Chair           -6.036         0.002          5.235          0              93.544         0
  44  Chair           -5.580         0.002          4.099          0              357.508        0
  45  Sofa            -2.465         0.004          3.281          0              128.001        0
  46  Drawer          0.748          0.237          3.330          0              270            0
  47  Drawer          0.748          0.668          3.330          0              270            0
  48  Drawer          0.748          0.235          4.097          0              270            0
  49  Dresser         0.846          0.002          3.713          0              270            0
  50  Drawer          0.748          0.665          4.097          0              270            0
  51  NorthWall
  52  EastWall
  53  SouthWall
  54  WestWall

Plan:
STEP 1: Turn around and head left, then right past the tan couch then pass the fire place and turn right towards the tan table with a brown box on it. | STEP 2: Pick up the brown box from the tan table. | STEP 3: Turn around and go left straight toward the brown side table next to the white chair.  | STEP 4: Turn the lamp on that is on the brown side table. | END