Task: Turn on a lamp while holding a newspaper.

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          0.5            0              90             0
   1  Plate           3.381          0.643          -0.983         0              0              0              37
   2  Newspaper       -1.809         0.591          0.741          0              270            0              38
   3  KeyChain        -1.740         0.345          0.398          0              0              0              40
   4  KeyChain        -1.740         0.345          0.564          0              0              0              42
   5  CellPhone       -0.081         0.551          2.031          0              0              0              32
   6  CreditCard      3.887          0.639          -1.708         0              0              0              37
   7  Laptop          0.085          0.333          0.144          0              0              0              41
   8  Box             -0.221         0.122          -2.044         0              0              0              41
   9  Newspaper       0.332          0.334          0.777          0              0              0              41
  10  CreditCard      1.689          0.705          -0.678         0              270            0              29
  11  Vase            -2.120         0.598          0.031          0              0              0              38
  12  KeyChain        1.750          0.616          -0.771         0              0              0              30
  13  Plate           0.085          0.339          0.524          0              0              0              41
  14  Laptop          3.525          0.631          -1.438         0              271.146        0              37
  15  CellPhone       -1.809         0.597          0.031          0              0              0              38
  16  RemoteControl   1.605          0.707          -0.710         0              270            0              29
  17  Pillow          1.435          0.515          -0.125         0              0              0              35
  18  Vase            0.125          0.555          1.824          0              0              0              32
  19  Statue          0.332          0.345          0.271          0              90             0              41
  20  ArmChair        -1.761         0.0            -1.488         0              240.000        0
  21  Television      -2.035         1.081          0.555          0              90             0
  22  LightSwitch     2.099          1.353          -0.828         0              90             0
  23  HousePlant      -0.804         0.000          -2.187         0              0              0
  24  FloorLamp       1.689          0.002          1.776          0              90             0
  25  Painting        1.983          1.585          0.326          90             270            0
  26  GarbageCan      -1.891         -0.029         -0.409         0              0              0
  27  Window          2.775          1.281          -2.018         90             180            0
  28  Window          -0.013         1.289          -2.450         90             180            0
  29  SideTable       1.566          0.000          -0.689         0              180            0
  30  Drawer          1.566          0.624          -0.741         0              180            0
  31  Shelf           -0.147         0.172          1.925          0              0              0
  32  Shelf           -0.147         0.552          1.925          0              0              0
  33  Shelf           -0.147         0.880          1.924          0              0              0
  34  ShelvingUnit    -0.147         0.006          1.924          0              0              0
  35  Sofa            1.556          -0.004         0.424          0              270            0
  36  Shelf           0.167          0.104          0.200          0              270            0
  37  DiningTable     3.583          0.000          -1.164         0              270            0
  38  TVStand         -1.965         0.000          0.563          0              270            0
  39  Shelf           -1.964         0.082          0.563          0              270            0
  40  Shelf           -1.964         0.333          0.563          0              270            0
  41  CoffeeTable     0.167          0.001          0.216          0              270            0
  42
  43  NorthWall
  44  EastWall
  45  SouthWall
  46  WestWall

Plan:
STEP 1: Turn around and face the coffee table. | STEP 2: Pick up the newspaper at the corner of the coffee table. | STEP 3: Turn around, go to the lamp on the left side of the couch. | STEP 4: Turn on the lamp. | END