Task: Grab the newspaper on the coffee table, turn on the floor lamp

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -5.25          0.927          4.25           0              0              0
   1  Plate           -5.817         0.648          3.617          0              0              0              75
   2  Newspaper       -2.440         0.299          2.205          0              0              0              79
   3  KeyChain        -4.424         0.957          5.240          0              0              0              44
   4  CreditCard      -3.732         0.277          3.312          0              0              0              76
   5  RemoteControl   -4.540         1.275          5.170          0              0              0              43
   6  RemoteControl   -5.571         0.642          2.915          0              0              0              75
   7  Laptop          -5.939         0.639          1.861          0              0              0              75
   8  Laptop          -2.894         0.298          1.931          0              0              0              79
   9  Box             -2.362         0.657          0.306          0              300.000        0              50
  10  Statue          -6.589         1.022          5.172          0              180            0              36
  11  KeyChain        -1.004         0.275          2.315          0              270            0              77
  12  Vase            -1.701         0.930          0.179          0              0              0              30
  13  Vase            -0.764         0.940          0.203          0              0              0              47
  14  Vase            -3.983         1.285          5.168          0              0              0              53
  15  Newspaper       -6.062         0.641          2.915          0              0              0              75
  16  CreditCard      -3.127         0.276          3.661          0              0              0              76
  17  RemoteControl   -4.782         1.582          5.17           0              0              0              57
  18  Laptop          -5.764         0.634          2.376          0              0              0              75
  19  Pillow          -1.515         0.438          3.319          0              300.000        90             78
  20  Vase            -3.155         0.184          1.682          0              325.579        0              74
  21  Statue          -5.539         0.406          5.134          0              0              0              38
  22  Vase            -1.352         1.258          0.228          0              0              0              54
  23  Plate           -0.904         0.492          0.264          0              90             0              50
  24  Vase            -3.848         0.485          0.314          0              90             0              50
  25  Statue          -5.033         1.566          5.212          0              180            0              57
  26  Statue          -0.812         1.565          0.209          0              0              0              49
  27  Statue          -3.851         0.930          5.169          0              0              0              35
  28  Statue          -3.174         1.105          5.193          0              0              0              58
  29  Statue          -5.865         0.634          2.786          0              65.579         0              75
  30  Shelf           -1.776         0.988          0.184          0              180            0
  31  Chair           -5.413         0.024          1.780          0              0              0
  32  Cabinet         -5.365         1.170          5.031          0              0              0
  33  Chair           -5.388         0.024          3.369          0              355.695        0
  34  Chair           -6.211         0.024          2.517          0              172.601        0
  35  Shelf           -3.937         0.988          5.170          0              0              0
  36  Shelf           -6.572         1.144          5.170          0              0              0
  37  Cabinet         -4.181         1.873          5.029          0              0              0
  38  Shelf           -5.606         0.444          5.170          0              0              0
  39  Drawer          -6.324         0.823          5.001          0              0              0
  40  Cabinet         -2.017         1.714          0.323          0              180            0
  41  Cabinet         -2.465         1.329          5.029          0              0              0
  42  Drawer          -1.093         0.233          0.462          0              0              0
  43  Shelf           -4.672         1.317          5.170          0              0              0
  44  Shelf           -4.672         0.998          5.170          0              0              0
  45  Shelf           -2.221         0.444          5.170          0              0              0
  46  Drawer          -6.324         0.508          5.001          0              0              0
  47  Shelf           -1.041         0.998          0.184          0              180            0
  48  Drawer          -4.264         0.233          0.462          0              0              0
  49  Shelf           -0.810         1.688          0.185          0              180            0
  50  Shelf           -2.671         0.610          0.272          0              90             0
  51  Drawer          -2.681         0.233          0.462          0              0              0
  52  Drawer          -2.940         0.508          5.001          0              0              0
  53  Cabinet         -3.696         1.714          5.031          0              0              0
  54  Shelf           -1.041         1.317          0.184          0              180            0
  55  Cabinet         -1.532         1.873          0.325          0              180            0
  56  Chair           -5.382         0.024          2.695          0              6.230          0
  57  Shelf           -4.903         1.688          5.170          0              0              0
  58  Shelf           -3.187         1.144          5.170          0              0              0
  59  Drawer          -2.940         0.823          5.001          0              0              0
  60  Chair           -6.252         0.024          3.427          0              195.000        0
  61  Cabinet         -5.850         1.329          5.029          0              0              0
  62  Cabinet         -1.980         1.170          5.031          0              0              0
  63  Chair           -6.296         0.024          1.672          0              180            0
  64  FloorLamp       -0.369         0.016          4.992          0              59.992         0
  65  GarbageCan      -6.846         0.024          0.258          0              91.057         0
  66  Television      -3.503         1.506          0.001          0              0              0
  67  LightSwitch     0.0            1.184          4.410          0              270            0
  68  HousePlant      -1.105         0.315          2.740          0              0              0
  69  Painting        -5.769         1.394          -0.026         90             180            0
  70  Window          0.001          1.246          2.471          90             270            0
  71  Window          0.001          1.246          3.558          90             270            0
  72  Window          0.001          1.246          1.368          90             270            0
  73  Painting        -0.967         1.396          5.268          90             180            0
  74  CoffeeTable     -3.002         0.028          1.726          0              0              0
  75  DiningTable     -5.816         0.025          2.563          0              270            0
  76  Sofa            -3.328         0.023          3.632          0              180            0
  77  ArmChair        -1.012         0.028          2.084          0              270            0
  78  ArmChair        -1.577         0.028          3.295          0              210.000        0
  79  CoffeeTable     -2.667         0.025          1.999          0              5.810          0
  80  NorthWall
  81  EastWall
  82  SouthWall
  83  WestWall

Plan:
STEP 1: Turn around, walk across the room to the other side of the coffee table | STEP 2: Grab the newspaper on the coffee table, | STEP 3: Turn around, walk behind the sofa to the corner floor lamp | STEP 4: Turn on the floor lamp | END