Task: Pick up a small bottle on a table, then 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           -4.5           0.908          7.5            0              90             0
   1  Plate           -3.227         0.473          7.182          0              0              0              51
   2  Plate           -3.227         0.471          6.138          0              0              0              51
   3  Candle          -3.709         0.782          1.751          0              0              0              54
   4  TissueBox       -3.129         0.535          8.346          0              180            0              60
   5  Newspaper       -3.026         0.455          6.556          0              0              0              51
   6  KeyChain        -2.047         0.783          2.216          0              0              0              54
   7  CreditCard      -0.304         0.675          0.447          0              239.437        0              49
   8  Laptop          -1.699         0.453          6.441          0              0              0              47
   9  Laptop          -2.324         0.780          2.526          0              0              0              54
  10  Box             -2.878         0.910          2.526          0              180            0              54
  11  KeyChain        -1.928         0.456          6.144          0              0              0              47
  12  Plate           -3.432         0.798          2.526          0              0              0              54
  13  Candle          -3.155         0.782          2.681          0              0              0              54
  14  Pillow          -1.721         0.519          5.725          0              0              0              47
  15  Candle          -0.464         0.676          0.534          0              329.437        0              49
  16  TissueBox       -3.709         0.783          2.681          0              0              0              54
  17  Laptop          -1.852         0.453          7.334          0              0              0              47
  18  Newspaper       -2.047         0.781          1.906          0              0              0              54
  19  CreditCard      -3.608         0.533          8.596          0              180            0              60
  20  RemoteControl   -3.432         0.783          1.751          0              0              0              54
  21  Boots           -5.786         0.007          4.817          0              167.028        0              Floor|-02.99|
  22  Candle          -2.651         0.536          8.346          0              180            0              60
  23  Statue          -2.713         0.902          2.294          0              0              0              54
  24  Watch           -0.495         0.676          8.468          0              329.437        0              50
  25  Statue          -3.432         0.792          2.216          0              90             0              54
  26  Mirror          -5.489         1.825          6.505          0              0              0
  27  FloorLamp       -5.645         0.013          8.526          0              0              0
  28  HousePlant      -3.203         0.452          6.798          0              0              0
  29  HousePlant      -5.358         1.476          5.442          0              343.031        0
  30  GarbageCan      -5.711         0.005          0.300          0              34.872         0
  31  Television      -3.114         0.996          8.693          1.686          180            0
  32  LightSwitch     -6.0           1.338          3.433          0              90             0
  33  Painting        -5.954         1.526          1.153          90             270            0
  34  Window          0.157          1.203          6.895          90             90             0
  35  Window          -4.855         1.203          -0.158         90             180            0
  36  Window          0.157          1.203          4.923          90             90             0
  37  Window          0.157          1.203          2.986          90             90             0
  38  Window          0.157          1.203          1.088          90             90             0
  39  Window          -2.942         1.203          -0.158         90             180            0
  40  Window          -1.057         1.203          -0.158         90             180            0
  41  DeskLamp        -0.432         0.684          8.644          0              0              0
  42  DeskLamp        -0.346         0.684          0.335          0              0              0
  43  Chair           -3.326         0.015          2.739          358.826        189.525        358.738
  44  Chair           -2.352         0.015          2.744          358.824        163.801        358.735
  45  Chair           -2.476         0.015          1.628          358.826        21.693         358.736
  46  Chair           -3.327         0.015          1.701          358.828        0              358.738
  47  Sofa            -1.706         0.002          6.448          0              270            0
  48  Chair           -0.328         0.016          0.998          0              246.550        0
  49  SideTable       -0.396         0.008          0.357          0              329.435        0
  50  SideTable       -0.527         0.008          8.521          0              329.431        0
  51  CoffeeTable     -3.236         0.010          6.598          0              270            0
  52  ArmChair        -3.663         0.012          4.562          0              0              0
  53  ArmChair        -2.691         0.012          4.618          0              0              0
  54  DiningTable     -2.903         0.010          2.225          0              0              0
  55  RoomDecor       -0.189         0.009          3.909          0              0              0
  56  RoomDecor       -0.189         0.009          2.097          0              0              0
  57  RoomDecor       -0.190         0.009          5.855          0              0              0
  58  RoomDecor       -3.957         0.009          0.254          0              0              0
  59  RoomDecor       -2.036         0.009          0.254          0              0              0
  60  CoffeeTable     -3.129         0.016          8.533          0              0              0
  61  NorthWall
  62  EastWall
  63  SouthWall
  64  WestWall

Plan:
STEP 1: Turn right and walk straight ahead. Once you pass the leather chair, turn left and walk straight ahead. Stop once you get to the middle of the wood table to your right and face the table | STEP 2: Pick up the small bottle with the white top to the right of the open cardboard box | STEP 3: Turn right to walk to the end of the table. Then turn right and walk straight ahead and walk towards the wall. When you reach the wall, turn left and walk towards the lamp | STEP 4: Turn on the lamp | END