Task: examine a blue lid with the lamp

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -2.5           0.901          6.5            0              270            0
   1  Bowl            -0.636         0.795          2.252          0              270            0              43
   2  Bowl            -0.687         0.795          5.726          0              270            0              42
   3  Newspaper       -5.442         0.532          6.721          0              135            0              59
   4  Watch           -6.019         0.880          4.152          0              0              0              55
   5  KeyChain        -0.326         0.794          2.103          0              0              0              43
   6  KeyChain        -0.738         0.794          1.626          0              270            0              43
   7  RemoteControl   -0.947         0.369          4.524          0              0              0              41
   8  Box             -5.983         0.162          5.764          0              347.562        0              52
   9  Statue          -2.186         1.276          7.177          0              0              0              57
  10  Vase            -6.075         1.280          4.808          0              0              0              55
  11  Vase            -2.672         0.462          7.145          0              90             0              50
  12  Newspaper       -5.368         0.532          6.871          0              45             0              59
  13  Laptop          -2.447         0.525          4.055          0              9.597          0              58
  14  WateringCan     -2.228         0.137          7.107          0              0              0
  15  Vase            -3.265         0.147          7.122          0              90             0              52
  16  CreditCard      -2.631         0.533          4.335          0              270            0              58
  17  Vase            -5.903         1.270          4.988          0              0              0              55
  18  KeyChain        -0.868         0.367          4.828          0              0              0              41
  19  Vase            -5.920         0.442          4.371          0              0              0              53
  20  Vase            -5.910         0.443          3.804          0              0              0              53
  21  Bowl            -2.474         0.148          7.122          0              90             0              52
  22  Pillow          -0.756         0.542          4.793          0              284.202        0              41
  23  Vase            -5.867         1.271          3.712          0              0              0              55
  24  RemoteControl   -2.352         0.536          3.752          0              270            0              58
  25  Watch           -0.433         0.793          2.252          0              270            0              43
  26  Statue          -2.696         1.271          7.103          0              162.053        0              57
  27  Statue          -5.854         1.272          4.074          0              0              0              55
  28  Statue          -2.172         0.543          4.106          0              90             0              58
  29  Statue          -3.128         1.271          7.139          0              96.687         0              57
  30  Mirror          -1.308         0.022          0.197          0              0              0
  31  DeskLamp        -0.600         0.797          1.955          0              0              0
  32  DeskLamp        -0.593         0.797          6.022          0              60.096         0
  33  FloorLamp       -4.615         0.016          0.314          0              0              0
  34  Television      -5.637         0.998          6.949          0              135            0
  35  LightSwitch     -4.419         1.279          0.0            0              0              0
  36  Painting        0.0            1.661          4.451          90             270            0
  37  Painting        0.0            1.661          3.414          90             270            0
  38  HousePlant      -5.884         1.296          4.516          0              0              0
  39  GarbageCan      -5.689         -0.024         0.242          0              0              0
  40  Window          -6.287         1.672          2.178          90             270            0
  41  Sofa            -0.773         0.023          3.915          0              270            0
  42  SideTable       -0.586         0.014          5.979          0              270            0
  43  SideTable       -0.585         0.014          2.002          0              270            0
  44  Chair           -3.539         0.015          2.007          0              15.000         0
  45  Chair           -2.268         0.015          1.955          0              345.000        0
  46  Shelf           -0.585         0.248          2.002          0              270            0
  47  Shelf           -0.586         0.248          5.979          0              270            0
  48  Shelf           -5.948         0.161          4.339          0              270            0
  49  Shelf           -2.853         0.898          7.174          0              180            0
  50  Shelf           -2.853         0.467          7.174          0              180            0
  51  Shelf           -5.948         0.898          4.335          0              270            0
  52  Shelf           -2.858         0.161          7.174          0              180            0
  53  Shelf           -5.948         0.467          4.335          0              270            0
  54  ShelvingUnit    -5.946         0.012          4.347          0              270            0
  55  Shelf           -5.948         1.293          4.349          0              270            0
  56  ShelvingUnit    -2.865         0.012          7.177          0              180            0
  57  Shelf           -2.868         1.293          7.174          0              180            0
  58  CoffeeTable     -2.492         0.018          4.043          0              270            0
  59  CoffeeTable     -5.555         0.018          6.835          0              315            0
  60  NorthWall
  61  SouthWall
  62  SouthWall

Plan:
STEP 1: turn right to face the shelves | STEP 2: pick up the blue lid that is on the shelf | STEP 3: turn right, walk forward, turn right, walk across room, turn left to face small table | STEP 4: turn on the lamp | END