Task: Turning a lamp on

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           0.901          2.25           0              0              0
   1  Book            0.880          0.241          0.506          0              0              0              30
   2  Watch           0.753          0.714          0.177          0              0              0              26
   3  Watch           -1.461         0.448          2.120          0              0              0              27
   4  Watch           0.373          0.240          0.387          0              0              0              30
   5  KeyChain        -1.200         0.707          3.539          0              90             0              29
   6  KeyChain        -3.450         0.564          0.382          0              0              0              31
   7  Laptop          -1.852         0.544          0.560          0              0              0              28
   8  Book            -1.050         0.712          3.759          0              0              0              29
   9  Box             0.332          0.892          0.488          0              0              0              26
  10  Laptop          -1.461         0.446          2.441          0              0              0              27
  11  KeyChain        -1.648         0.711          3.869          0              0              0              29
  12  Pillow          -0.506         0.664          0.431          36.288         0              0              28
  13  Statue          -1.499         0.716          3.759          0              0              0              29
  14  RemoteControl   -0.601         0.547          0.650          0              0              0              28
  15  CreditCard      -3.450         0.567          0.661          0              0              0              31
  16  Watch           0.627          0.240          0.545          0              0              0              30
  17  Painting        -3.049         1.690          4.341          0              0              0
  18  Curtains        -3.973         2.254          1.453          0              0              0
  19  Painting        -1.096         1.773          -0.017         0              0              0
  20  LightSwitch     -0.129         1.407          4.348          0              180            0
  21  GarbageCan      -0.376         0.003          4.103          0              180            0
  22  Television      -1.504         1.189          4.126          0              180            0
  23  HousePlant      -2.015         0.447          2.357          0              0              0
  24  FloorLamp       -3.686         -0.001         4.013          0              0              0
  25  Window          -4.051         1.197          1.312          90             270            0
  26  SideTable       0.626          0.006          0.340          0              0              0
  27  CoffeeTable     -1.735         0.005          2.360          0              0              0
  28  Sofa            -1.135         -0.004         0.517          0              0              0
  29  TVStand         -1.566         0.004          3.869          0              0              0
  30  Shelf           0.622          0.238          0.340          0              0              0
  31  ArmChair        -3.063         0.000          0.517          0              0              0
  32  NorthWall
  33  EastWall
  34  SouthWall
  35  WestWall

Plan:
STEP 1: Turn around and stand in front of the sofa and face the table | STEP 2: Grab the watch off of the table | STEP 3: Turn left and then walk right to the lamp | STEP 4: Turn the lamp light on | END