Task: Pick up the newspaper 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           0.75           0.900          0.25           0              90             0
   1  TissueBox       -0.359         0.900          1.327          0              0              0              43
   2  TissueBox       -1.226         0.129          1.165          0              0              0              41
   3  Newspaper       -4.273         1.062          0.321          0              270            0              31
   4  Newspaper       -1.047         0.898          1.234          0              0              0              43
   5  KeyChain        -1.578         0.510          -1.377         0              0              0              34
   6  KeyChain        -0.059         0.634          1.291          0              180            0              44
   7  CreditCard      1.683          0.460          -1.302         0              0              0              35
   8  CreditCard      -4.133         1.062          0.481          0              0              0              31
   9  Box             -3.780         1.305          0.457          0              0              0              31
  10  Vase            1.117          0.657          1.267          0              0              0              32
  11  TissueBox       -0.924         0.635          1.255          0              0              0              42
  12  Newspaper       1.267          0.656          1.043          0              0              0              32
  13  KeyChain        0.667          0.657          1.043          0              0              0              32
  14  Vase            0.817          0.666          1.267          0              0              0              32
  15  Statue          -1.29          0.891          1.219          0              180            0              43
  16  RemoteControl   0.057          0.552          -1.319         0              0              0              40
  17  Pillow          -1.827         0.585          -1.251         0              0              0              34
  18  CreditCard      1.407          0.655          -1.715         0              0              0              36
  19  Laptop          0.434          0.541          -1.187         0              0              0              40
  20  Vase            -0.516         0.114          1.201          0              0              0              41
  21  Statue          1.660          0.757          -1.338         0              0              0              36
  22  DeskLamp        1.657          0.654          -1.605         0              0              0
  23  FloorLamp       -4.569         0.005          -1.616         0              15.092         0
  24  LightSwitch     -2.464         1.230          -1.950         0              0              0
  25  GarbageCan      -4.581         -0.032         1.126          0              90             0
  26  Television      -0.549         1.516          1.450          0              180            0
  27  HousePlant      1.555          0.650          1.166          0              0              0
  28  Window          -2.012         1.501          1.468          90             0              0
  29  Window          0.986          1.501          1.468          90             0              0
  30  Painting        -0.698         1.835          -1.911         90             0              0
  31  DiningTable     -3.941         0.005          0.257          0              0              0
  32  SideTable       1.102          -0.000         1.118          0              180            0
  33  Drawer          1.103          0.519          0.834          0              180            0
  34  ArmChair        -1.832         0.010          -1.349         0              0              0
  35  Drawer          1.581          0.523          -1.199         0              0              0
  36  SideTable       1.581          0.003          -1.488         0              0              0
  37  Painting        -4.910         1.763          -0.098         90             270            0
  38  Chair           -4.398         0.002          0.274          0              85.162         0
  39  Chair           -3.825         0.002          -0.223         0              340.163        0
  40  Sofa            0.057          -0.002         -1.386         0              0              0
  41  Shelf           -0.552         0.114          1.252          0              180            0
  42  Drawer          -1.020         0.728          1.032          0              180            0
  43  SideTable       -0.589         0.000          1.227          0              180            0
  44  Drawer          -0.157         0.728          1.032          0              180            0
  45  NorthWall
  46  EastWall
  47  SouthWall
  48  WestWall

Plan:
STEP 1: turn left to face the desk | STEP 2: pick up newspaper closest to you | STEP 3: turn around completely to face smaller desk move forward to desk | STEP 4: keep holding paper and turn on the lamp on the desk | END