Task: Grab the plate on the end table, turn on 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           -5.0           0.901          1.5            0              180            0
   1  Bowl            -0.687         0.795          6.357          0              270            0              43
   2  Bowl            -2.811         0.535          3.981          0              0              0              59
   3  Newspaper       -0.947         0.440          3.306          0              0              0              42
   4  Newspaper       -6.010         0.532          6.607          0              135            0              60
   5  Watch           -5.960         0.453          4.547          0              0              0              54
   6  Watch           -2.352         0.533          4.335          0              270            0              59
   7  CreditCard      -0.947         0.435          3.611          0              0              0              42
   8  RemoteControl   -5.950         0.149          4.745          0              0              0              49
   9  Box             -5.983         0.162          5.764          0              347.562        0              53
  10  Statue          -2.186         1.276          7.177          0              0              0              58
  11  Vase            -3.462         0.453          7.145          0              90             0              51
  12  Vase            -2.422         0.542          3.607          0              270            0              59
  13  Newspaper       -5.670         0.532          6.494          0              135            0              60
  14  Laptop          -2.447         0.525          4.055          0              9.597          0              59
  15  WateringCan     -2.228         0.137          7.107          0              0              0
  16  Vase            -3.462         0.880          7.139          0              90             0              50
  17  CreditCard      -0.636         0.793          1.626          0              270            0              44
  18  Vase            -5.903         1.270          4.988          0              0              0              56
  19  KeyChain        -3.067         0.453          7.221          0              90             0              51
  20  Vase            -5.920         0.442          4.371          0              0              0              54
  21  Vase            -5.910         0.443          3.804          0              0              0              54
  22  Bowl            -2.474         0.454          7.221          0              90             0              51
  23  Pillow          -0.756         0.542          4.793          0              284.202        0              42
  24  Vase            -5.867         1.271          3.712          0              0              0              56
  25  RemoteControl   -5.274         0.536          6.665          0              45             0              60
  26  Watch           -0.738         0.793          2.252          0              270            0              44
  27  Statue          -2.696         1.271          7.103          0              162.053        0              58
  28  Statue          -5.854         1.272          4.074          0              0              0              56
  29  Statue          -2.172         0.543          4.106          0              90             0              59
  30  Statue          -3.128         1.271          7.139          0              96.687         0              58
  31  Mirror          -1.308         0.022          0.197          0              0              0
  32  DeskLamp        -0.600         0.797          1.955          0              0              0
  33  DeskLamp        -0.593         0.797          6.022          0              60.096         0
  34  FloorLamp       -4.615         0.016          0.314          0              0              0
  35  Television      -5.637         0.998          6.949          0              135            0
  36  LightSwitch     -4.419         1.279          0.0            0              0              0
  37  Painting        0.0            1.661          4.451          90             270            0
  38  Painting        0.0            1.661          3.414          90             270            0
  39  HousePlant      -5.884         1.296          4.516          0              0              0
  40  GarbageCan      -5.689         -0.024         0.242          0              0              0
  41  Window          -6.287         1.672          2.178          90             270            0
  42  Sofa            -0.773         0.023          3.915          0              270            0
  43  SideTable       -0.586         0.014          5.979          0              270            0
  44  SideTable       -0.585         0.014          2.002          0              270            0
  45  Chair           -3.539         0.015          2.007          0              15.000         0
  46  Chair           -2.268         0.015          1.955          0              345.000        0
  47  Shelf           -0.585         0.248          2.002          0              270            0
  48  Shelf           -0.586         0.248          5.979          0              270            0
  49  Shelf           -5.948         0.161          4.339          0              270            0
  50  Shelf           -2.853         0.898          7.174          0              180            0
  51  Shelf           -2.853         0.467          7.174          0              180            0
  52  Shelf           -5.948         0.898          4.335          0              270            0
  53  Shelf           -2.858         0.161          7.174          0              180            0
  54  Shelf           -5.948         0.467          4.335          0              270            0
  55  ShelvingUnit    -5.946         0.012          4.347          0              270            0
  56  Shelf           -5.948         1.293          4.349          0              270            0
  57  ShelvingUnit    -2.865         0.012          7.177          0              180            0
  58  Shelf           -2.868         1.293          7.174          0              180            0
  59  CoffeeTable     -2.492         0.018          4.043          0              270            0
  60  CoffeeTable     -5.555         0.018          6.835          0              315            0
  61  NorthWall
  62  SouthWall
  63  SouthWall

Plan:
STEP 1: Turn around, walk to the end, turn right, walk to the corner by the end table | STEP 2: Grab the grey plate on the end table | STEP 3: Turn right and turn left, facing the lamp on the end table | STEP 4: Turn on the lamp | END