Task: Grab the box on the sofa, turn on the lamp by the sofa

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -5.5           0.901          3.25           0              0              0
   1  TissueBox       -5.764         0.078          4.069          0              90             0              35
   2  TissueBox       -5.194         1.040          0.239          0              0              0              40
   3  Newspaper       -0.376         1.597          1.097          0              270            0              49
   4  Newspaper       -5.534         1.045          0.438          0              0              0              40
   5  CellPhone       -2.901         1.111          4.786          0              90             0              58
   6  CellPhone       -2.085         0.590          4.644          0              0              0              52
   7  Statue          -4.184         1.117          4.687          0              90             0              58
   8  Statue          -2.297         0.039          0.212          0              90             0              41
   9  RemoteControl   -1.117         0.611          3.281          0              0              0              62
  10  RemoteControl   -0.705         0.611          2.224          0              0              0              62
  11  Box             -4.741         0.425          4.331          0              180            0              61
  12  Box             -0.787         0.830          3.545          0              0              0              62
  13  Box             -3.052         0.421          4.342          0              180            0              57
  14  Box             -0.870         0.830          1.960          0              180            0              62
  15  Watch           -4.854         1.039          0.239          0              0              0              40
  16  Pillow          -2.031         0.668          4.421          0              0              0              52
  17  TissueBox       -3.864         1.112          4.687          0              90             0              58
  18  Newspaper       -0.870         0.628          2.753          0              0              0              62
  19  CreditCard      -4.854         1.038          0.438          0              0              0              40
  20  KeyChain        -5.364         1.039          0.504          0              180            0              40
  21  CellPhone       -0.787         0.609          3.281          0              0              0              62
  22  Statue          -4.505         1.113          4.490          0              90             0              58
  23  Laptop          -3.393         1.104          4.492          0              191.867        0              58
  24  RemoteControl   -3.863         1.110          4.391          0              90             0              54
  25  Vase            -4.826         1.111          4.786          0              90             0              58
  26  DeskLamp        -4.649         1.051          0.268          0              0              0
  27  DeskLamp        -2.992         1.107          4.522          0              0              0
  28  FloorLamp       -0.650         0.007          4.431          0              0              0
  29  FloorLamp       -5.607         0.007          4.641          0              0              0
  30  Shelf           -5.237         1.776          0.070          0              0              0
  31  Shelf           -5.238         1.968          0.085          0              0              0
  32  Shelf           -5.242         1.391          0.086          0              0              0
  33  Shelf           -5.241         1.582          0.065          0              0              0
  34  LightSwitch     -6.002         1.353          3.404          0              90             0
  35  GarbageCan      -5.794         -0.033         4.073          0              90             0
  36  Painting        -6.017         1.802          4.177          90             270            0
  37  HousePlant      -3.966         1.625          0.135          0              315            0
  38  Television      -3.355         0.833          0.027          0              0              0
  39  Drawer          -5.024         0.903          0.370          0              0              0
  40  SideTable       -5.024         0.008          0.267          0              0              0
  41  Safe            -2.298         5.778          0.268          0              90             0
  42  Shelf           -0.253         0.781          1.058          0              270            0
  43  Shelf           -0.283         0.274          1.066          0              270            0
  44  Shelf           -1.224         1.288          0.270          0              0              0
  45  Shelf           -1.218         1.810          0.275          0              0              0
  46  Shelf           -0.280         1.810          1.057          0              270            0
  47  Shelf           -1.218         0.274          0.262          0              0              0
  48  Shelf           -1.223         0.782          0.237          0              0              0
  49  Shelf           -0.280         1.288          1.055          0              270            0
  50  ShelvingUnit    -0.268         0.004          1.067          0              270            0
  51  ShelvingUnit    -1.218         0.004          0.244          0              0              0
  52  ArmChair        -2.027         0.001          4.422          0              178.692        0
  53  Drawer          -4.329         1.014          4.311          0              180            0
  54  Drawer          -3.750         1.014          4.311          0              180            0
  55  Cabinet         -4.049         0.561          4.212          0              180            0
  56  Cabinet         -4.032         0.561          4.212          0              180            0
  57  Cabinet         -2.884         0.561          4.212          0              180            0
  58  Dresser         -4.041         -0.000         4.589          0              180            0
  59  Drawer          -4.916         1.014          4.311          0              180            0
  60  Drawer          -3.166         1.014          4.311          0              180            0
  61  Cabinet         -5.196         0.561          4.212          0              180            0
  62  Sofa            -0.705         -0.002         2.753          0              270            0
  63  NorthWall
  64  SouthWall
  65  SouthWall

Plan:
STEP 1: Turn right, walk to the sofa | STEP 2: Grab the box on the sofa | STEP 3: Turn to the floor lamp by the sofa | STEP 4: Turn on the floor lamp | END