Task: To turn on the lamp with the sculpture.

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           0.900          1.25           0              270            0
   1  Vase            -2.730         0.787          -3.614         0              270            0              35
   2  Vase            -2.308         0.183          0.764          0              90             0              31
   3  RemoteControl   1.846          0.879          1.093          0              0              0              42
   4  RemoteControl   0.184          0.469          -0.702         0              225            0              36
   5  Pillow          0.577          0.603          -0.537         0              225            0              36
   6  Laptop          -0.544         0.389          1.867          0              180            0              34
   7  Laptop          -3.348         0.784          -3.613         0              270            0              35
   8  Box             -2.977         0.901          -3.170         0              270            0              35
   9  KeyChain        0.939          0.468          -0.061         0              225            0              36
  10  Laptop          -3.348         0.784          -4.057         0              270            0              35
  11  Statue          1.846          0.883          0.882          0              90             0              42
  12  Pillow          -0.790         0.560          1.053          0              90             0              37
  13  RemoteControl   -2.400         0.761          0.464          0              90             0              29
  14  Statue          -2.853         0.790          -3.835         0              270            0              35
  15  CreditCard      1.308          0.467          -0.150         0              225            0              36
  16  Vase            -2.853         0.790          -4.057         0              270            0              35
  17  Statue          -2.400         0.767          0.914          0              270            0              29
  18  Shelf           -0.612         0.880          -2.832         0              0              0
  19  Shelf           -0.612         1.317          -2.832         0              0              0
  20  LightSwitch     -2.599         1.254          -0.774         0              90             0
  21  GarbageCan      -1.343         0.015          -4.825         0              0              0
  22  HousePlant      0.506          1.097          2.235          0              0              0
  23  Painting        -0.509         1.742          2.404          90             0              0
  24  FloorLamp       1.712          0.001          0.374          0              0              0
  25  Painting        -5.0           1.626          -3.548         90             270            0
  26  Television      -2.258         1.245          0.755          0              90             0
  27  Shelf           -2.238         0.474          0.396          0              90             0
  28  Shelf           -2.238         0.273          0.396          0              90             0
  29  TVStand         -2.244         -0.000         0.762          0              90             0
  30  Shelf           -2.238         0.302          1.130          0              90             0
  31  Shelf           -2.238         0.442          0.764          0              90             0
  32  Shelf           -2.238         0.597          1.130          0              90             0
  33  Shelf           -2.238         0.643          0.396          0              90             0
  34  ArmChair        -0.559         0.000          1.951          0              180            0
  35  DiningTable     -3.101         0.000          -3.613         0              270            0
  36  Sofa            0.880          0.007          -0.591         0              315            0
  37  Ottoman         -0.576         0.008          1.052          0              180            0
  38  Chair           -3.501         0.002          -3.716         0              90             0
  39  Chair           -3.182         0.002          -2.813         0              165.000        0
  40  Chair           -3.130         0.002          -4.418         0              345.001        0
  41  Chair           -2.686         0.002          -3.301         0              285.000        0
  42  SideTable       1.825          0.000          1.092          0              270            0
  43  Drawer          1.761          0.774          1.092          0              270            0
  44  NorthWall
  45  EastWall
  46  SouthWall
  47  WestWall

Plan:
STEP 1: Turn around and walk by the couch to the black end table next to the piano.  | STEP 2: Pick up the sculpture next to the remote.  | STEP 3: Move in front of the lamp on the right and lift up the sculpture to the lamp.  | STEP 4: Use the sculpture to turn the lamp on.  | END