Task: Put  the lamp into the box

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.25           0.902          4.5            0              0              0
   1  CellPhone       -2.011         0.658          -2.202         0              0              0              58
   2  CellPhone       -1.102         0.658          -2.456         0              0              0              58
   3  CreditCard      -1.329         0.654          -1.820         0              0              0              58
   4  RemoteControl   -1.783         0.656          -1.693         0              0              0              58
   5  RemoteControl   -4.168         1.653          0.322          0              0              0              29
   6  Box             -2.664         0.679          5.826          0              180            0              60
   7  Box             -0.108         1.031          1.300          0              90             0              37
   8  Laptop          -1.913         0.387          5.826          0              180            0              60
   9  Laptop          -1.329         0.653          -2.202         0              0              0              58
  10  Box             -0.847         1.032          1.398          0              0              0              37
  11  Vase            -0.453         0.701          5.645          0              315            0              52
  12  CellPhone       -2.246         0.456          4.187          0              0              0              71
  13  WateringCan     -3.580         0.003          5.507          2.690          0              0              Floor|-04.41|
  14  KeyChain        0.090          0.330          1.151          0              0              0              36
  15  Vase            -4.242         0.789          1.181          0              0              0              30
  16  Vase            -2.465         0.660          -2.074         0              0              0              58
  17  Laptop          -2.557         0.316          2.617          0              0              0              68
  18  Pillow          -3.585         0.451          3.881          0              90             0              61
  19  RemoteControl   -3.789         0.395          3.348          0              90             0              61
  20  CreditCard      -0.601         0.741          1.398          0              0              0              37
  21  Vase            -4.225         0.789          0.382          0              0              0              30
  22  Statue          -1.093         0.743          1.202          0              270            0              37
  23  Statue          -2.106         0.462          3.771          0              0              0              71
  24  Statue          0.137          0.843          1.593          0              0              0              37
  25  Shelf           -4.253         2.157          0.771          0              0              0
  26  Painting        -3.368         1.741          -0.298         0              0              0
  27  Shelf           -4.253         1.306          0.771          0              0              0
  28  Painting        -1.756         1.424          -3.595         0              0              0
  29  Shelf           -4.253         1.690          0.771          0              0              0
  30  Shelf           -4.261         0.833          0.771          0              0              0
  31  Drawer          0.411          0.581          1.221          0              180            0
  32  Drawer          -0.000         0.170          1.221          0              180            0
  33  Drawer          -0.000         0.581          1.221          0              180            0
  34  Drawer          0.411          0.375          1.221          0              180            0
  35  Drawer          0.411          0.170          1.221          0              180            0
  36  Drawer          -0.000         0.375          1.221          0              180            0
  37  Desk            -0.352         0.003          1.371          0              180            0
  38  FloorLamp       0.391          -0.001         5.157          0              0              0
  39  Window          -2.828         0.470          -0.157         90             199.328        0
  40  Window          -4.410         1.702          1.787          90             270            0
  41  Window          -3.638         1.702          6.735          90             0              0
  42  Window          -4.410         1.702          2.790          90             270            0
  43  Window          -2.827         1.702          -0.157         90             199.328        0
  44  Window          -0.131         1.702          6.735          90             0              0
  45  Window          -1.013         1.702          -0.154         90             159.633        0
  46  Window          -4.410         1.702          5.980          90             270            0
  47  Television      -0.153         1.176          5.790          0              225            0
  48  GarbageCan      0.357          0.003          2.159          0              90             0
  49  DeskLamp        0.277          0.735          1.381          0              0              0
  50  HousePlant      -1.819         0.641          -2.011         0              315            0
  51  LightSwitch     -2.740         1.495          -0.405         0              180            0
  52  TVStand         -0.118         0.001          5.874          0              45             0
  53  Chair           -1.353         0.002          -2.872         0              349.207        0
  54  Chair           -2.220         0.002          -1.298         0              168.118        0
  55  Chair           -1.515         0.007          -1.331         358.639        187.454        0
  56  Chair           -2.189         0.002          -2.835         0              2.328          0
  57  Safe            0.174          0.001          -0.071         0              323.940        0
  58  DiningTable     -1.783         0.003          -2.039         0              0              0
  59  Chair           -0.636         0.010          0.993          0              358.396        0
  60  Sofa            -2.161         0.006          6.115          0              180            0
  61  Sofa            -3.782         0.006          4.153          0              90             0
  62  Shelf           -1.095         0.607          1.321          0              180            0
  63  Shelf           -1.267         0.607          1.321          0              180            0
  64  Shelf           -1.267         0.401          1.321          0              180            0
  65  Shelf           -1.095         0.196          1.320          0              180            0
  66  Shelf           -1.095         0.401          1.321          0              180            0
  67  Shelf           -1.267         0.196          1.320          0              180            0
  68  ArmChair        -2.628         0.009          2.421          0              0              0
  69  Chair           -0.485         0.010          4.452          0              270            0
  70  Chair           -0.431         0.010          3.595          0              270            0
  71  CoffeeTable     -1.965         0.000          4.187          0              0              0
  72  NorthWall
  73  EastWall
  74  SouthWall
  75  WestWall

Plan:
STEP 1: Turn around, go forward, turn right, go forward, turn left, go to the table, turn right, go forward, turn left, go forward a bit, turn left | STEP 2: Pick up the lamp on the table | STEP 3: Turn left, go forward, turn right, go forward, turn left, go forward, turn left at the table | STEP 4: Put the lamp into the box on the table | STEP 5: Pick up the box on the table | STEP 6: Turn around, go forward a bit, turn right,go forward, turn left at the door and go to the table | STEP 7: Put the box on the table | END