Task: Read the newspaper by the light of 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           -6.0           0.905          3.25           0              0              0
   1  Watch           -4.253         0.416          0.521          0              90             0              37
   2  KeyChain        -4.034         0.439          1.573          0              0              0              38
   3  RemoteControl   -3.115         0.503          0.578          0              0              0              40
   4  Box             -1.876         0.751          1.925          0              90             0              35
   5  Pillow          -1.773         0.549          1.507          0              0              0              35
   6  Laptop          -2.820         0.5            0.202          0              0              0              40
   7  Box             -1.7           0.307          4.296          0              0              0              Floor|-03.53|
   8  Watch           -0.423         0.856          3.663          0              0              0              42
   9  Pillow          -1.830         0.597          0.222          0              0              0              40
  10  WateringCan     -0.269         0.005          2.366          1.834          0              0              Floor|-03.53|
  11  Newspaper       -2.525         0.501          0.484          0              0              0              40
  12  KeyChain        -3.411         0.502          0.578          0              0              0              40
  13  Laptop          -1.565         0.452          2.030          0              0              0              35
  14  RemoteControl   -2.116         1.101          4.153          0              0              0              21
  15  CreditCard      -0.366         0.860          3.780          0              0              0              42
  16  Statue          -4.367         0.408          0.348          0              0              0              37
  17  Curtains        -0.089         2.460          2.111          0              0              0
  18  Curtains        -1.146         1.383          4.530          0              0              0
  19  Drawer          -2.288         0.267          4.112          0              180            0
  20  Drawer          -2.836         0.750          4.111          0              180            0
  21  Dresser         -2.560         0.005          4.224          0              180            0
  22  Drawer          -2.834         0.267          4.113          0              180            0
  23  Drawer          -2.288         0.749          4.110          0              180            0
  24  LightSwitch     -7.0           1.363          2.605          0              74.999         0
  25  Television      -2.554         1.583          4.300          0              180            0
  26  FloorLamp       -0.301         0.014          -0.129         1.374          0              0
  27  Painting        0.0            1.583          4.006          90             270            0
  28  DeskLamp        -6.766         0.411          -0.028         0              0              0
  29  GarbageCan      -4.115         -0.032         -0.161         0              0              0
  30  Painting        -3.704         1.718          4.600          90             180            0
  31  Window          -0.037         1.705          2.096          90             270            0
  32  Window          -1.157         1.697          4.593          90             180            0
  33  HousePlant      -0.287         0.395          2.108          0              0              0
  34  Chair           -6.022         0.005          0.092          0              338.430        0
  35  Ottoman         -1.773         0.004          1.807          0              0              0
  36  SideTable       -6.720         0.006          1.513          0              326.715        0
  37  SideTable       -4.292         0.006          0.413          0              0              0
  38  ArmChair        -4.384         0.008          1.395          0              90             0
  39  SideTable       -0.253         0.004          2.102          0              0              0
  40  Sofa            -2.524         0.010          0.263          0              0              0
  41  Drawer          -0.357         0.208          3.798          0              0              0
  42  Dresser         -0.271         0.004          4.011          0              270            0
  43  Drawer          -0.359         0.581          3.795          0              0              0
  44  Drawer          -0.357         0.583          4.225          0              0              0
  45  Drawer          -0.358         0.210          4.221          0              0              0
  46  DogBed          -0.844         0.007          0.138          0              90             0
  47  NorthWall
  48  EastWall
  49  SouthWall
  50  WestWall

Plan:
STEP 1: Turn right, head towards the middle of the room, then turn left towards the gray sofa. | STEP 2: Pick up the newsletter on the sofa. | STEP 3: Turn around, head towards the middle of the room, turn left towards the wall, and then turn left towards the circle table with the lamp. | STEP 4: Turn on the lamp. | END