Task: Pick up box from shelves, turn on table lamp.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -2.25          0.906          3.75           0              90             0
   1  Newspaper       -0.499         0.427          3.098          0              270            0              32
   2  CreditCard      -4.610         0.512          3.476          0              0              0              28
   3  RemoteControl   -4.345         0.420          2.146          0              270            0              39
   4  Box             -0.478         0.867          2.978          0              270            0              37
   5  CreditCard      -1.740         0.195          2.757          0              0              0              30
   6  TissueBox       -0.499         0.184          2.363          0              270            0              36
   7  Laptop          -4.424         0.417          2.640          0              270            0              39
   8  Vase            -2.880         1.518          0.144          0              0              0
   9  RemoteControl   -4.345         0.420          1.159          0              270            0              39
  10  Pillow          -1.379         0.479          4.520          0              0              0              40
  11  KeyChain        -0.402         0.184          2.678          0              270            0              35
  12  Watch           -1.969         0.198          2.528          0              0              0              30
  13  Newspaper       -0.430         0.183          3.098          0              270            0              38
  14  Statue          -0.253         0.772          2.528          0              270            0              37
  15  Statue          -0.478         0.772          2.528          0              270            0              37
  16  Curtains        -1.030         2.113          0.0            0              0              0
  17  Curtains        -3.927         2.113          0.0            0              0              0
  18  HousePlant      -3.127         1.507          0.118          0              0              0
  19  Television      0.0            1.376          2.661          0              270            0
  20  GarbageCan      -0.227         0.005          4.778          0              0              0
  21  DeskLamp        -4.658         0.508          3.318          0              270            0
  22  Painting        -2.507         1.817          0.108          90             0              0
  23  FloorLamp       -4.596         0.006          0.399          0              65.211         0
  24  LightSwitch     -3.233         1.343          5.0            0              180            0
  25  Window          -1.011         1.391          0.029          90             180            0
  26  Window          -3.900         1.391          0.029          90             180            0
  27  Drawer          -4.433         0.473          3.344          0              90             0
  28  SideTable       -4.612         0.009          3.346          0              90             0
  29  Chair           -4.572         0.005          3.862          0              113.899        0
  30  CoffeeTable     -1.972         0.002          2.615          0              270            0
  31  ArmChair        -0.875         0.005          0.566          0              0              0
  32  Shelf           -0.340         0.480          3.046          0              270            0
  33  Shelf           -0.340         0.649          3.046          0              270            0
  34  Shelf           -0.340         0.603          2.312          0              270            0
  35  Shelf           -0.340         0.448          2.678          0              270            0
  36  Shelf           -0.340         0.308          2.312          0              270            0
  37  TVStand         -0.335         0.005          2.679          0              270            0
  38  Shelf           -0.340         0.279          3.046          0              270            0
  39  Sofa            -4.566         0.009          1.880          0              90             0
  40  Sofa            -2.124         0.009          4.558          0              180            0
  41  NorthWall
  42  SouthWall
  43  SouthWall

Plan:
STEP 1: Turn right, go to shelves on left.  Turn left to face shelves. | STEP 2: Pick up box from top of shelves. | STEP 3: Turn around, go to table across room with lamp on it. | STEP 4: Turn on lamp on table next to credit card. | END