Task: To see the decoration in the light.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           2.5            0.900          0.0            0              270            0
   1  Plate           0.085          0.339          0.397          0              0              0              40
   2  Plate           -1.810         0.348          0.895          0              0              0              39
   3  Vase            0.125          0.555          1.824          0              0              0              31
   4  KeyChain        3.381          0.640          -1.346         0              0              0              36
   5  CreditCard      1.541          0.481          0.391          0              0              0              34
   6  RemoteControl   1.354          0.484          0.194          0              0              0              34
   7  Box             3.786          0.724          -1.527         0              90             0              36
   8  Newspaper       -2.042         0.591          1.096          0              0              0              37
   9  CreditCard      1.368          0.615          -0.771         0              270            0              29
  10  Vase            -0.081         0.556          2.031          0              0              0              31
  11  KeyChain        3.887          0.640          -0.983         0              0              0              36
  12  Plate           0.167          0.339          0.018          0              0              0              40
  13  Laptop          1.479          0.480          0.784          0              0              0              34
  14  CellPhone       -1.809         0.597          0.208          0              0              0              37
  15  RemoteControl   0.414          0.337          0.271          0              0              0              40
  16  Pillow          1.435          0.515          -0.125         0              0              0              34
  17  Vase            0.250          0.339          0.651          0              0              0              40
  18  Statue          3.381          0.649          -0.983         0              0              0              36
  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: Turn to the left and walk across the room, then turn right and walk to the middle of the room, the turn right again and approach the coffee table then turn left to face it. | STEP 2: Take the blue decoration off of the right edge of the table.  | STEP 3: Turn to the right, then turn to the right again and face the lamp.  | STEP 4: Turn the lamp on. | END