Task: Turn on a lamp and pick up a gold figurine.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -2.5           0.900          0.75           0              90             0
   1  Plate           -5.762         0.790          5.575          0              0              0              39
   2  Plate           -5.885         0.790          4.467          0              0              0              39
   3  Statue          0.909          0.992          3.714          0              0              0              51
   4  Newspaper       0.922          0.550          6.382          0              0              0              36
   5  Newspaper       0.909          0.981          4.337          0              0              0              51
   6  KeyChain        0.684          0.100          3.847          0              90             0              50
   7  KeyChain        -5.762         0.787          4.689          0              0              0              39
   8  CellPhone       0.718          0.541          4.096          0              0              0              52
   9  CellPhone       0.787          0.102          3.847          0              0              0              50
  10  CreditCard      -1.706         0.533          3.627          0              38.001         0              47
  11  RemoteControl   -2.021         0.522          3.560          0              38.001         0              47
  12  RemoteControl   -1.713         0.314          2.334          0              39.022         0              38
  13  Box             -1.299         0.509          2.659          0              39.022         0              38
  14  CellPhone       0.659          0.986          3.298          0              0              0              51
  15  WateringCan     0.829          -0.001         2.339          0              45             0              Floor|-03.10|
  16  Newspaper       -1.612         0.312          2.086          0              39.022         0              38
  17  KeyChain        -2.466         0.531          2.654          0              38.001         0              47
  18  Plate           -3.311         0.554          1.647          0              0              0              35
  19  Pillow          -2.719         0.609          2.768          0              320.647        0              47
  20  RemoteControl   -2.173         0.522          3.365          0              38.001         0              47
  21  CreditCard      0.684          0.098          3.240          0              0              0              48
  22  Laptop          -5.464         0.779          5.252          0              306.871        0              39
  23  Statue          0.636          0.560          6.382          0              0              0              36
  24  Curtains        -1.046         3.500          2.880          0              0              0
  25  HousePlant      -3.580         0.548          1.659          0              0              0
  26  Television      0.852          1.460          3.726          357.954        270            0
  27  Painting        -3.813         1.809          1.008          90             90             0
  28  DeskLamp        0.890          0.545          6.822          0              0              0
  29  GarbageCan      -7.102         -0.044         2.295          0              90             0
  30  FloorLamp       -3.494         0.006          0.390          0              0              0
  31  LightSwitch     -5.234         1.391          7.031          0              180            0
  32  Window          -1.985         1.646          -0.009         90             180            0
  33  Window          -4.909         0.990          2.015          90             180            0
  34  Window          -5.796         1.072          1.871          90             180            0
  35  SideTable       -3.407         0.005          1.656          0              270            0
  36  SideTable       0.732          0.005          6.634          0              270            0
  37  Chair           -0.139         0.005          6.412          0              149.999        0
  38  CoffeeTable     -1.546         0.004          2.528          0              39.022         0
  39  DiningTable     -5.639         -0.003         4.910          0              270            0
  40  Chair           -3.159         0.005          0.869          0              97.469         0
  41  Chair           -5.192         0.002          4.682          0              281.219        0
  42  Chair           -5.181         0.002          5.293          0              266.218        0
  43  Chair           -6.046         0.002          4.560          0              86.218         0
  44  Chair           -5.624         0.002          5.750          0              180            0
  45  Chair           -6.036         0.002          5.235          0              93.544         0
  46  Chair           -5.580         0.002          4.099          0              357.508        0
  47  Sofa            -2.465         0.004          3.281          0              128.001        0
  48  Drawer          0.748          0.237          3.330          0              270            0
  49  Drawer          0.748          0.668          3.330          0              270            0
  50  Drawer          0.748          0.235          4.097          0              270            0
  51  Dresser         0.846          0.002          3.713          0              270            0
  52  Drawer          0.748          0.665          4.097          0              270            0
  53  NorthWall
  54  EastWall
  55  SouthWall
  56  WestWall

Plan:
STEP 1: Walk forward until you reach the fireplace, then turn left and walk across the room to the small table that is next to the chair.  | STEP 2: Turn the lamp on that is on the small table. | STEP 3: Pick up the gold figurine that is sitting on the table. | END