Task: Turn on the living room lamp.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           2.75           0.900          1.0            0              0              0
   1  Pencil          3.838          0.070          -0.495         0              0              0              23
   2  KeyChain        -0.421         0.323          1.599          0              91.372         0              38
   3  KeyChain        2.583          0.323          1.655          0              180            0              30
   4  CreditCard      3.926          0.765          1.151          0              0              0              41
   5  CreditCard      1.592          0.452          -0.615         0              0              0              32
   6  RemoteControl   2.511          0.324          1.727          0              90             0              30
   7  Box             -0.29          1.074          -0.714         0              270            0              Floor|+00.00|
   8  Newspaper       1.380          0.334          1.746          0              0              0              39
   9  Laptop          1.805          0.47           0.499          0              0              0              31
  10  WateringCan     1.621          0.056          -0.697         0              0              0              36
  11  TissueBox       -0.512         0.841          -0.672         0              0              0              35
  12  KeyChain        2.008          0.453          -0.729         0              0              0              32
  13  Pen             3.967          0.882          0.655          0              270            0              40
  14  Boots           4.005          0.001          1.707          1.563          246.167        0
  15  Pencil          4.007          0.879          0.549          0              0              0              40
  16  RemoteControl   3.888          0.877          0.971          0              0              0              40
  17  CreditCard      -0.401         0.840          -0.818         0              0              0              35
  18  Pillow          0.651          0.395          1.708          0              0              0              21
  19  Statue          1.466          0.479          0.431          0              270            0              31
  20  Statue          2.009          0.075          -0.691         0              0              0              36
  21  Sofa            1.174          0.0            1.865          0              0              0
  22  FloorLamp       3.608          0.000          2.163          0              0              0
  23  GarbageCan      3.833          -0.029         -0.495         0              0              0
  24  Television      1.897          1.281          -0.838         0              0              0
  25  Painting        4.070          1.950          0.848          90             270            0
  26  HousePlant      0.387          0.801          -0.725         0              90             0
  27  Window          0.023          2.072          2.484          90             180            0
  28  Window          1.570          2.072          2.484          90             180            0
  29  LightSwitch     -1.399         1.289          1.835          0              90             0
  30  ArmChair        2.655          0.000          1.858          0              180            0
  31  CoffeeTable     1.591          -0.000         0.446          0              180            0
  32  Shelf           1.905          0.588          -0.730         0              0              0
  33  TVStand         1.904          -0.000         -0.770         0              0              0
  34  Shelf           -0.289         0.200          -0.732         0              0              0
  35  TVStand         -0.290         -0.000         -0.772         0              0              0
  36  Shelf           1.905          0.200          -0.730         0              0              0
  37  Shelf           -0.289         0.588          -0.732         0              0              0
  38  ArmChair        -0.270         0.000          1.870          0              181.372        0
  39  Sofa            1.193          0.008          1.865          0              180            0
  40  SideTable       3.946          0.000          0.865          0              270            0
  41  Drawer          3.882          0.774          0.864          0              270            0
  42  NorthWall
  43  EastWall
  44  SouthWall
  45  WestWall

Plan:
STEP 1: Turn to your left and go across the room, to the door, then turn to your left and go to the book shelf across the room.  | STEP 2: Pick up the cardboard box on the left side of the book shelf.  | STEP 3: Turn to your left and go across the room, then turn left again and go to the lamp in the right corner, straight ahead.  | STEP 4: Turn on the lamp in the corner.  | END