Task: Carry a newspaper while turning on a lamp

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           0.900          -1.0           0              180            0
   1  Newspaper       2.800          0.321          1.727          0              90             0              32
   2  Newspaper       2.511          0.321          1.727          0              90             0              32
   3  Newspaper       1.800          0.451          -0.729         0              0              0              34
   4  Pencil          -0.606         0.460          -0.767         0              0              0              39
   5  Pen             3.950          0.770          1.151          0              90             0              43
   6  Pen             -0.29          0.845          -0.721         0              0              0              37
   7  KeyChain        -0.067         0.840          -0.77          0              0              0              37
   8  CreditCard      1.749          0.473          0.267          0              180            0              33
   9  Box             1.174          0.582          1.819          0              0              0              41
  10  Newspaper       -0.501         0.067          -0.729         0              0              0              36
  11  Laptop          1.805          0.47           0.499          0              0              0              33
  12  WateringCan     1.621          0.056          -0.697         0              0              0              38
  13  TissueBox       2.033          0.475          0.186          0              180            0              33
  14  KeyChain        2.127          0.840          -0.623         0              0              0              35
  15  Pen             2.009          0.070          -0.691         0              0              0              38
  16  Boots           4.005          0.001          1.707          1.563          246.167        0
  17  Pencil          -0.395         0.460          -0.804         0              0              0              39
  18  RemoteControl   1.183          0.474          0.267          0              180            0              33
  19  CreditCard      1.183          0.473          0.349          0              180            0              33
  20  Pillow          0.651          0.395          1.708          0              0              0              23
  21  Statue          -0.532         0.443          -0.738         0              92.244         0              39
  22  Statue          1.324          0.483          0.594          0              180            0              33
  23  Sofa            1.174          0.0            1.865          0              0              0
  24  FloorLamp       3.608          0.000          2.163          0              0              0
  25  GarbageCan      3.833          -0.029         -0.495         0              0              0
  26  Television      1.897          1.281          -0.838         0              0              0
  27  Painting        4.070          1.950          0.848          90             270            0
  28  HousePlant      0.387          0.801          -0.725         0              90             0
  29  Window          0.023          2.072          2.484          90             180            0
  30  Window          1.570          2.072          2.484          90             180            0
  31  LightSwitch     -1.399         1.289          1.835          0              90             0
  32  ArmChair        2.655          0.000          1.858          0              180            0
  33  CoffeeTable     1.591          -0.000         0.446          0              180            0
  34  Shelf           1.905          0.588          -0.730         0              0              0
  35  TVStand         1.904          -0.000         -0.770         0              0              0
  36  Shelf           -0.289         0.200          -0.732         0              0              0
  37  TVStand         -0.290         -0.000         -0.772         0              0              0
  38  Shelf           1.905          0.200          -0.730         0              0              0
  39  Shelf           -0.289         0.588          -0.732         0              0              0
  40  ArmChair        -0.270         0.000          1.870          0              181.372        0
  41  Sofa            1.193          0.008          1.865          0              180            0
  42  SideTable       3.946          0.000          0.865          0              270            0
  43  Drawer          3.882          0.774          0.864          0              270            0
  44  NorthWall
  45  EastWall
  46  SouthWall
  47  WestWall

Plan:
STEP 1: Move down the hall then forward to the green chair with the two newspapers on it | STEP 2: Pick up the newspaper to the left on the chair | STEP 3: Carry the newspaper to the corner floor lamp on the left | STEP 4: Turn on the lamp | END