Task: Turn on the lamp while holding the teapot.

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           0.900          0.5            0              0              0
   1  TissueBox       0.044          0.841          -0.818         0              0              0              38
   2  Pencil          3.838          0.070          -0.462         0              0              0              26
   3  Pen             3.950          0.771          0.578          0              270            0              44
   4  KeyChain        3.827          0.767          0.960          0              180            0              44
   5  KeyChain        -0.624         0.840          -0.867         0              0              0              38
   6  CreditCard      1.380          0.335          1.746          0              0              0              42
   7  RemoteControl   -0.185         0.458          -0.729         0              0              0              40
   8  Box             1.586          0.582          1.819          0              0              0              42
   9  Box             2.656          0.569          1.798          0              0              0              33
  10  Box             -0.29          1.074          -0.714         0              270            0              Floor|+00.00|
  11  Newspaper       0.967          0.334          1.527          0              0              0              24
  12  Laptop          1.805          0.47           0.499          0              0              0              34
  13  WateringCan     1.621          0.056          -0.697         0              0              0              39
  14  TissueBox       -0.512         0.841          -0.721         0              0              0              38
  15  KeyChain        3.901          0.766          1.055          0              0              0              44
  16  Pen             3.803          0.771          0.578          0              270            0              44
  17  Boots           4.005          0.001          1.707          1.563          246.167        0
  18  Pencil          3.928          0.879          1.076          0              0              0              43
  19  RemoteControl   3.849          0.877          0.971          0              0              0              43
  20  CreditCard      1.749          0.473          0.267          0              180            0              34
  21  Pillow          0.651          0.395          1.708          0              0              0              24
  22  Statue          -0.532         0.443          -0.738         0              92.244         0              40
  23  Statue          -0.081         0.057          -0.692         0              0              0              37
  24  Sofa            1.174          0.0            1.865          0              0              0
  25  FloorLamp       3.608          0.000          2.163          0              0              0
  26  GarbageCan      3.833          -0.029         -0.495         0              0              0
  27  Television      1.897          1.281          -0.838         0              0              0
  28  Painting        4.070          1.950          0.848          90             270            0
  29  HousePlant      0.387          0.801          -0.725         0              90             0
  30  Window          0.023          2.072          2.484          90             180            0
  31  Window          1.570          2.072          2.484          90             180            0
  32  LightSwitch     -1.399         1.289          1.835          0              90             0
  33  ArmChair        2.655          0.000          1.858          0              180            0
  34  CoffeeTable     1.591          -0.000         0.446          0              180            0
  35  Shelf           1.905          0.588          -0.730         0              0              0
  36  TVStand         1.904          -0.000         -0.770         0              0              0
  37  Shelf           -0.289         0.200          -0.732         0              0              0
  38  TVStand         -0.290         -0.000         -0.772         0              0              0
  39  Shelf           1.905          0.200          -0.730         0              0              0
  40  Shelf           -0.289         0.588          -0.732         0              0              0
  41  ArmChair        -0.270         0.000          1.870          0              181.372        0
  42  Sofa            1.193          0.008          1.865          0              180            0
  43  SideTable       3.946          0.000          0.865          0              270            0
  44  Drawer          3.882          0.774          0.864          0              270            0
  45  NorthWall
  46  EastWall
  47  SouthWall
  48  WestWall

Plan:
STEP 1: Turn around and move to the wall, turn left and move forward to the edge of the TV, turn right. | STEP 2: Pick up the teapot on the bottom shelf. | STEP 3: Turn left and move forward all the way to the trash bin, turn left and move all the way to the lamp. | STEP 4: Turn on the lamp. | END