Task: To pick up a box and 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           1.5            0.901          -1.0           0              270            0
   1  Mug             2.045          1.575          -2.298         0              0              0              37
   2  Vase            -1.780         0.599          -0.392         0              0              0              53
   3  Vase            0.421          0.729          -2.647         0              180            0              46
   4  CD              -1.794         0.216          -1.076         0              0              0              54
   5  CellPhone       -1.024         0.417          -2.100         0              0              0              52
   6  CellPhone       -1.582         0.599          -0.392         0              0              0              53
   7  Pen             0.076          0.734          -2.530         0              180            0              46
   8  Pen             -1.846         0.604          -0.533         0              0              0              53
   9  Pencil          1.257          1.182          -2.235         0              0              0              34
  10  CreditCard      1.511          0.977          -2.277         0              0              0              32
  11  CreditCard      0.536          0.730          -2.471         0              180            0              46
  12  KeyChain        1.787          0.356          -2.324         0              0              0              61
  13  KeyChain        -1.718         0.509          -1.274         0              0              0              55
  14  Book            -0.333         0.418          -1.855         0              0              0              52
  15  Box             1.996          0.316          -1.042         0              254.839        0
  16  Book            -1.714         0.600          -0.109         0              0              0              53
  17  Pillow          -1.548         0.457          -1.831         0              90             0              52
  18  CellPhone       0.586          0.723          -2.667         0              7.524          0              46
  19  Vase            0.766          0.731          -2.588         0              180            0              46
  20  BaseballBat     -1.629         0.649          0.416          14.491         0              0
  21  CreditCard      0.766          0.730          -2.471         0              180            0              46
  22  TennisRacket    2.244          0.279          -1.901         335.402        251.974        201.714
  23  KeyChain        -1.648         0.599          -0.533         0              0              0              53
  24  AlarmClock      -1.648         0.599          -0.816         0              0              0              53
  25  Cloth           2.176          0.0            -0.571         0              335.474        0
  26  Laptop          -1.024         0.415          -1.855         0              0              0              52
  27  CD              -1.515         0.598          -0.109         0              0              0              53
  28  CD              0.191          0.728          -2.764         0              180            0              46
  29  Pen             1.320          0.361          -2.282         0              0              0              63
  30  Pencil          -1.582         0.602          -0.675         0              0              0              53
  31  Mug             1.724          0.975          -2.319         0              90             0              33
  32  Shelf           1.311          0.969          -2.298         0              0              0
  33  Shelf           1.843          0.969          -2.298         0              0              0
  34  Shelf           1.311          1.171          -2.298         0              0              0
  35  Shelf           1.843          1.171          -2.298         0              0              0
  36  Shelf           1.311          1.368          -2.298         0              0              0
  37  Shelf           1.843          1.570          -2.298         0              0              0
  38  Shelf           1.843          1.368          -2.298         0              0              0
  39  Shelf           1.311          1.570          -2.298         0              0              0
  40  DeskLamp        -1.848         0.592          -0.786         0              90             0
  41  GarbageCan      2.197          -0.007         0.298          0              232.025        0
  42  LightSwitch     -0.638         1.149          0.499          0              180            0
  43  Poster          0.001          1.495          -2.642         90             90             0
  44  Mirror          -1.072         1.469          0.497          0              0              0
  45  Window          0.435          1.398          -2.855         90             0              0
  46  SideTable       0.435          0.036          -2.647         0              0              0
  47  Drawer          0.433          0.203          -2.445         0              0              0
  48  Drawer          0.433          0.505          -2.445         0              0              0
  49  Dumbbell        -1.656         0.602          -0.534         0              90             0
  50  Blinds          0.449          2.164          -2.845         0              0              0
  51  GarbageBag      1.730          0.318          0.222          270            90             83.412
  52  Bed             -1.047         -0.000         -1.851         0              270            0
  53  Desk            -1.710         0.000          -0.374         0              90             0
  54  Drawer          -1.790         0.245          -1.144         0              90             0
  55  SideTable       -1.824         0.000          -1.144         0              90             0
  56  Drawer          -1.790         0.392          -1.144         0              90             0
  57  Drawer          -1.790         0.097          -1.144         0              90             0
  58  Chair           -1.453         0.005          -0.311         0              286.095        0
  59  Shelf           1.591          0.606          -2.305         0              0              0
  60  ShelvingUnit    1.588          0.004          -2.326         0              0              0
  61  Shelf           1.854          0.453          -2.298         0              0              0
  62  Shelf           1.321          0.155          -2.296         0              0              0
  63  Shelf           1.323          0.456          -2.300         0              0              0
  64  Shelf           1.852          0.152          -2.294         0              0              0
  65  NorthWall
  66  EastWall
  67  SouthWall
  68  WestWall

Plan:
STEP 1: Turn around and look down at the open box on the floor.  | STEP 2: Pick up the box from the floor.  | STEP 3: Turn around and walk to the desk on the other side of the room.  | STEP 4: Turn on the lamp that's on the desk.  | END