Task: Grab the box from the sofa, turn on the lamp on the table by the window

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -4.0           0.901          2.5            0              180            0
   1  Watch           -1.592         0.756          0.993          0              0              0              41
   2  Statue          -1.169         0.761          0.993          0              0              0              41
   3  KeyChain        -0.178         0.626          3.238          0              180            0              39
   4  CreditCard      -4.219         0.477          5.325          0              0              0              32
   5  CreditCard      -1.451         0.755          0.993          0              0              0              41
   6  RemoteControl   -2.136         0.844          6.832          0              0              0              38
   7  Box             -4.300         0.589          5.787          0              0              0              32
   8  Statue          -1.873         0.761          1.274          0              0              0              41
   9  Watch           -0.324         0.626          3.941          0              48.401         0              39
  10  WateringCan     -0.208         -0.000         3.225          0              63.928         0
  11  Laptop          -2.005         0.839          6.632          0              0              0              38
  12  CreditCard      -4.191         0.483          3.626          0              0              0              25
  13  KeyChain        -1.592         0.756          1.695          0              0              0              41
  14  Pillow          -2.403         0.529          3.626          0              0              0              31
  15  RemoteControl   -3.544         0.400          3.689          0              0              0              40
  16  Curtains        -0.037         2.148          0.999          0              0              0
  17  Painting        -0.016         2.061          5.380          0              0              0
  18  GarbageCan      -0.256         -0.010         6.799          0              0              0
  19  FloorLamp       -4.721         -0.001         3.687          0              0              0
  20  Television      -3.192         1.184          6.767          0              180            0
  21  HousePlant      -0.173         0.610          3.994          0              0              0
  22  LightSwitch     -3.483         1.470          0.001          0              0              0
  23  DeskLamp        -0.258         0.611          3.312          0              0              0
  24  Window          -0.008         1.340          1.725          90             270            0
  25  SideTable       -4.190         0.000          3.587          0              0              0
  26  Drawer          -2.925         0.475          6.717          0              180            0
  27  Drawer          -3.476         0.475          6.717          0              180            0
  28  Dresser         -3.201         -0.001         6.791          0              180            0
  29  Drawer          -2.925         0.165          6.719          0              180            0
  30  Drawer          -3.476         0.165          6.719          0              180            0
  31  ArmChair        -2.448         0.002          3.501          0              0              0
  32  Sofa            -4.425         0.014          5.062          0              90             0
  33  Ottoman         -2.374         0.000          4.483          0              0              0
  34  Chair           -2.151         0.004          1.284          0              90             0
  35  Chair           -1.549         0.004          1.780          0              195.000        0
  36  Chair           -1.626         0.004          0.778          0              10.166         0
  37  Chair           -1.076         0.004          1.292          0              265.171        0
  38  SideTable       -2.071         0.000          6.699          0              0              0
  39  SideTable       -0.244         -0.000         3.524          0              270            0
  40  ArmChair        -3.545         0.005          3.579          0              0              0
  41  DiningTable     -1.592         0.006          1.274          0              0              0
  42  NorthWall
  43  SouthWall
  44  SouthWall

Plan:
STEP 1: Turn left, walk pass the sofa, turn left, walk to the end, turn left, walk to the sofa with a box on it | STEP 2: Grab the box on the sofa | STEP 3: Turn around, walk to the black table by the window | STEP 4: turn on the lamp on the table | END