Task: get a box to take to the lamp to examine it by light

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -4.0           0.901          3.5            0              90             0
   1  TissueBox       -1.280         1.593          0.324          0              0              0              43
   2  TissueBox       -4.505         1.112          4.391          0              90             0              56
   3  CellPhone       -4.717         0.861          0.364          0              0              0              37
   4  Statue          -5.534         1.044          0.239          0              90             0              38
   5  Statue          -3.222         1.117          4.687          0              90             0              56
   6  Vase            -5.534         1.043          0.438          0              0              0              38
   7  Vase            -2.351         0.037          0.317          0              90             0              39
   8  Watch           -1.551         0.593          0.258          0              0              0              46
   9  Watch           -4.184         1.111          4.687          0              90             0              56
  10  CreditCard      -3.684         0.997          4.267          0              90             0              52
  11  RemoteControl   -5.364         1.041          0.438          0              0              0              38
  12  Box             -0.312         0.295          1.102          0              270            0              41
  13  Watch           -1.555         1.592          0.169          0              0              0              43
  14  Pillow          -1.584         0.668          4.384          0              0              0              50
  15  TissueBox       -0.302         1.103          0.917          0              270            0              40
  16  Newspaper       -2.085         0.596          4.297          0              0              0              50
  17  CreditCard      -0.870         0.615          3.017          0              0              0              60
  18  KeyChain        -0.623         0.609          2.753          0              0              0              60
  19  CellPhone       -0.870         0.609          1.960          0              0              0              60
  20  Statue          -1.184         0.079          0.312          0              0              0              45
  21  Laptop          -3.864         1.109          4.687          0              90             0              56
  22  RemoteControl   -1.584         0.592          4.211          0              0              0              50
  23  Vase            -4.184         1.111          4.391          0              90             0              56
  24  DeskLamp        -4.649         1.051          0.268          0              0              0
  25  DeskLamp        -2.992         1.107          4.522          0              0              0
  26  FloorLamp       -0.650         0.007          4.431          0              0              0
  27  FloorLamp       -5.607         0.007          4.641          0              0              0
  28  Shelf           -5.237         1.776          0.070          0              0              0
  29  Shelf           -5.238         1.968          0.085          0              0              0
  30  Shelf           -5.242         1.391          0.086          0              0              0
  31  Shelf           -5.241         1.582          0.065          0              0              0
  32  LightSwitch     -6.002         1.353          3.404          0              90             0
  33  GarbageCan      -5.794         -0.033         4.073          0              90             0
  34  Painting        -6.017         1.802          4.177          90             270            0
  35  HousePlant      -3.966         1.625          0.135          0              315            0
  36  Television      -3.355         0.833          0.027          0              0              0
  37  Drawer          -5.024         0.903          0.370          0              0              0
  38  SideTable       -5.024         0.008          0.267          0              0              0
  39  Safe            -2.298         5.778          0.268          0              90             0
  40  Shelf           -0.253         0.781          1.058          0              270            0
  41  Shelf           -0.283         0.274          1.066          0              270            0
  42  Shelf           -1.224         1.288          0.270          0              0              0
  43  Shelf           -1.218         1.810          0.275          0              0              0
  44  Shelf           -0.280         1.810          1.057          0              270            0
  45  Shelf           -1.218         0.274          0.262          0              0              0
  46  Shelf           -1.223         0.782          0.237          0              0              0
  47  Shelf           -0.280         1.288          1.055          0              270            0
  48  ShelvingUnit    -0.268         0.004          1.067          0              270            0
  49  ShelvingUnit    -1.218         0.004          0.244          0              0              0
  50  ArmChair        -2.027         0.001          4.422          0              178.692        0
  51  Drawer          -4.329         1.014          4.311          0              180            0
  52  Drawer          -3.750         1.014          4.311          0              180            0
  53  Cabinet         -4.049         0.561          4.212          0              180            0
  54  Cabinet         -4.032         0.561          4.212          0              180            0
  55  Cabinet         -2.884         0.561          4.212          0              180            0
  56  Dresser         -4.041         -0.000         4.589          0              180            0
  57  Drawer          -4.916         1.014          4.311          0              180            0
  58  Drawer          -3.166         1.014          4.311          0              180            0
  59  Cabinet         -5.196         0.561          4.212          0              180            0
  60  Sofa            -0.705         -0.002         2.753          0              270            0
  61  NorthWall
  62  SouthWall
  63  SouthWall

Plan:
STEP 1: turn right, walk towards tv, turn left, walk towards white shelves to the right of the couch | STEP 2: pick up the box that is on the bottom shelf | STEP 3: turn around, turn right at the couch, walk to the end of the couch, face couch to the right | STEP 4: turn on the lamp that is to your left | END