Task: pick up the paper from the table and 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           1.25           0.900          -0.25          0              180            0
   1  TissueBox       0.044          0.841          -0.77          0              0              0              37
   2  Newspaper       1.183          0.472          0.676          0              180            0              33
   3  Pen             1.904          0.070          -0.691         0              0              0              38
   4  Pen             3.827          0.771          1.151          0              90             0              43
   5  CreditCard      1.174          0.335          1.600          0              0              0              41
   6  RemoteControl   -0.080         0.069          -0.767         0              0              0              36
   7  RemoteControl   1.324          0.478          0.512          0              180            0              33
   8  Laptop          2.656          0.320          1.727          0              180            0              32
   9  Box             1.380          0.582          1.819          0              0              0              41
  10  Newspaper       -0.202         0.321          1.665          0              91.372         0              40
  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       1.183          0.475          0.512          0              180            0              33
  14  KeyChain        3.901          0.766          0.674          0              0              0              43
  15  Pen             -0.185         0.463          -0.653         0              0              0              39
  16  Boots           4.005          0.001          1.707          1.563          246.167        0
  17  Pencil          1.696          0.456          -0.804         0              0              0              34
  18  RemoteControl   1.586          0.337          1.892          0              0              0              41
  19  CreditCard      2.114          0.065          -0.615         0              0              0              38
  20  Pillow          0.651          0.395          1.708          0              0              0              23
  21  Statue          -0.401         0.841          -0.818         0              0              0              37
  22  Statue          1.466          0.483          0.349          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: look down and then turn right and turn around walk towards the couch turn right and then right again at the remote  | STEP 2: pick  up the newspaper from the table  | STEP 3: go left towards the table  then go left towards the lamp  | STEP 4: turn on the lamp  | END