Task: look at the newspaper under the lamp light

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -2.0           0.900          6.25           0              0              0
   1  CreditCard      -5.885         0.782          4.467          0              0              0              30
   2  RemoteControl   -1.951         0.527          3.818          0              38.001         0              38
   3  RemoteControl   -2.336         0.522          3.493          0              38.001         0              38
   4  Box             -1.591         0.498          2.277          0              26.831         0              29
   5  CellPhone       0.787          0.540          3.488          0              0              0              40
   6  WateringCan     0.829          -0.001         2.339          0              45             0              Floor|-03.10|
   7  Newspaper       -1.127         0.308          2.685          0              39.022         0              29
   8  KeyChain        0.784          0.983          4.337          0              0              0              42
   9  Plate           -1.895         0.317          2.481          0              39.022         0              29
  10  Pillow          -2.719         0.609          2.768          0              320.647        0              38
  11  RemoteControl   1.034          0.983          3.090          0              0              0              42
  12  CreditCard      0.909          0.982          3.714          0              0              0              42
  13  Laptop          -5.464         0.779          5.252          0              306.871        0              30
  14  Statue          -1.642         0.319          2.607          0              129.022        0              29
  15  Curtains        -1.046         3.500          2.880          0              0              0
  16  HousePlant      -3.580         0.548          1.659          0              0              0
  17  Television      0.852          1.460          3.726          357.954        270            0
  18  Painting        -3.813         1.809          1.008          90             90             0
  19  DeskLamp        0.890          0.545          6.822          0              0              0
  20  GarbageCan      -7.102         -0.044         2.295          0              90             0
  21  FloorLamp       -3.494         0.006          0.390          0              0              0
  22  LightSwitch     -5.234         1.391          7.031          0              180            0
  23  Window          -1.985         1.646          -0.009         90             180            0
  24  Window          -4.909         0.990          2.015          90             180            0
  25  Window          -5.796         1.072          1.871          90             180            0
  26  SideTable       -3.407         0.005          1.656          0              270            0
  27  SideTable       0.732          0.005          6.634          0              270            0
  28  Chair           -0.139         0.005          6.412          0              149.999        0
  29  CoffeeTable     -1.546         0.004          2.528          0              39.022         0
  30  DiningTable     -5.639         -0.003         4.910          0              270            0
  31  Chair           -3.159         0.005          0.869          0              97.469         0
  32  Chair           -5.192         0.002          4.682          0              281.219        0
  33  Chair           -5.181         0.002          5.293          0              266.218        0
  34  Chair           -6.046         0.002          4.560          0              86.218         0
  35  Chair           -5.624         0.002          5.750          0              180            0
  36  Chair           -6.036         0.002          5.235          0              93.544         0
  37  Chair           -5.580         0.002          4.099          0              357.508        0
  38  Sofa            -2.465         0.004          3.281          0              128.001        0
  39  Drawer          0.748          0.237          3.330          0              270            0
  40  Drawer          0.748          0.668          3.330          0              270            0
  41  Drawer          0.748          0.235          4.097          0              270            0
  42  Dresser         0.846          0.002          3.713          0              270            0
  43  Drawer          0.748          0.665          4.097          0              270            0
  44  NorthWall
  45  EastWall
  46  SouthWall
  47  WestWall

Plan:
STEP 1: go to the coffee table | STEP 2: pick up the rolled newspaper from the table | STEP 3: take the newspaper to the lamp | STEP 4: turn on the lamp | END