Turn on light
I go to bedroom and locate a lamp. This lamp can be turned on by touch, as it has capacitive sensing. So I do it.


[WALK] <bedroom> (1.67)
[WALK] <floor_lamp> (1.1000)
[FIND] <floor_lamp> (1.1000)
[TOUCH] <floor_lamp> (1.1000)
[SWITCHON] <floor_lamp> (1.1000)
