Task: examine blue plate 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           -1.25          0.900          0.0            0              0              0
   1  Plate           0.332          0.339          0.651          0              0              0              40
   2  Plate           3.685          0.643          -1.527         0              0              0              36
   3  Statue          -0.185         0.888          1.928          0              0              0              32
   4  Statue          0.332          0.345          0.018          0              180            0              40
   5  KeyChain        -1.595         0.291          -1.302         0              240.000        0              19
   6  CellPhone       1.479          0.482          0.194          0              0              0              34
   7  Box             -0.221         0.122          -2.044         0              0              0              40
   8  Newspaper       1.674          0.614          -0.791         0              180            0              29
   9  CreditCard      -1.732         0.596          0.741          0              0              0              37
  10  Vase            0.003          0.340          0.018          0              0              0              40
  11  KeyChain        1.604          0.482          0.194          0              0              0              34
  12  Plate           0.021          0.554          1.876          0              0              0              31
  13  Laptop          0.167          0.333          0.271          0              0              0              40
  14  CellPhone       0.085          0.336          0.524          0              0              0              40
  15  RemoteControl   1.416          0.484          0.980          0              0              0              34
  16  Pillow          1.435          0.515          -0.125         0              0              0              34
  17  Vase            3.685          0.643          -0.621         0              0              0              36
  18  Statue          -2.042         0.606          1.096          0              270            0              37
  19  ArmChair        -1.761         0.0            -1.488         0              240.000        0
  20  Television      -2.035         1.081          0.555          0              90             0
  21  LightSwitch     2.099          1.353          -0.828         0              90             0
  22  HousePlant      -0.804         0.000          -2.187         0              0              0
  23  FloorLamp       1.689          0.002          1.776          0              90             0
  24  Painting        1.983          1.585          0.326          90             270            0
  25  GarbageCan      -1.891         -0.029         -0.409         0              0              0
  26  Window          2.775          1.281          -2.018         90             180            0
  27  Window          -0.013         1.289          -2.450         90             180            0
  28  SideTable       1.566          0.000          -0.689         0              180            0
  29  Drawer          1.566          0.624          -0.741         0              180            0
  30  Shelf           -0.147         0.172          1.925          0              0              0
  31  Shelf           -0.147         0.552          1.925          0              0              0
  32  Shelf           -0.147         0.880          1.924          0              0              0
  33  ShelvingUnit    -0.147         0.006          1.924          0              0              0
  34  Sofa            1.556          -0.004         0.424          0              270            0
  35  Shelf           0.167          0.104          0.200          0              270            0
  36  DiningTable     3.583          0.000          -1.164         0              270            0
  37  TVStand         -1.965         0.000          0.563          0              270            0
  38  Shelf           -1.964         0.082          0.563          0              270            0
  39  Shelf           -1.964         0.333          0.563          0              270            0
  40  CoffeeTable     0.167          0.001          0.216          0              270            0
  41  NorthWall
  42  EastWall
  43  SouthWall
  44  WestWall

Plan:
STEP 1: walk towards door, turn right, turn left to face shelves, | STEP 2: pick up blue plate from shelf | STEP 3: turn right, walk towards floor lamp | STEP 4: turn lamp on, hold plate up to lamp | END