Task: To retrieve the blue object to hold up against 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           -2.75          0.900          1.75           0              90             0
   1  Plate           -2.093         0.238          2.787          0              0              0              35
   2  Statue          2.105          0.794          -0.538         0              0              0              39
   3  Candle          1.440          0.784          -0.415         0              0              0              39
   4  KeyChain        -1.861         0.708          2.700          0              90             0              36
   5  KeyChain        -0.371         0.191          1.303          0              270            0              32
   6  RemoteControl   -1.734         0.710          2.788          0              0              0              36
   7  Laptop          2.327          0.782          -0.045         0              0              0              39
   8  Box             -2.020         0.601          0.273          0              0              0              40
   9  Candle          -2.242         0.711          2.875          0              0              0              36
  10  Vase            1.662          0.784          0.077          0              0              0              39
  11  CreditCard      -2.020         0.447          -0.237         0              0              0              40
  12  Vase            1.840          0.776          -0.298         0              0              0              39
  13  WateringCan     -3.252         -0.000         -1.861         0              0              0
  14  Laptop          -3.341         0.582          0.213          0              0              0              34
  15  RemoteControl   -1.480         0.710          2.788          0              0              0              36
  16  Statue          -1.856         0.453          -0.237         0              0              0              40
  17  KeyChain        -2.115         0.708          2.875          0              0              0              36
  18  Pillow          -1.921         0.36           -1.500         0              0              0              33
  19  Plate           2.548          0.789          -0.538         0              0              0              39
  20  Statue          -1.747         0.242          2.750          0              0              0              35
  21  LightSwitch     -3.900         1.284          1.684          0              90             0
  22  GarbageCan      0.299          5.066          1.253          0              2.215          0
  23  FloorLamp       -0.331         0.001          2.728          0              0              0
  24  Painting        -0.056         1.601          1.733          90             270            0
  25  Painting        4.136          1.590          -0.296         90             270            0
  26  Television      -1.859         1.200          2.702          358.970        180            0
  27  HousePlant      -3.580         0.604          -1.617         0              0              0
  28  Window          1.478          1.506          -1.927         90             0              0
  29  Window          -2.003         1.506          -1.927         90             0              0
  30  Window          3.480          1.506          -1.927         90             0              0
  31  ArmChair        -0.437         0.005          1.923          0              270            0
  32  ArmChair        -0.430         0.005          1.062          0              270            0
  33  ArmChair        -2.004         0.005          -1.578         0              0              0
  34  Sofa            -3.419         0.009          -0.042         0              90             0
  35  DiningTable     -1.857         0.231          2.787          0              0              0
  36  TVStand         -1.857         0.000          2.788          0              0              0
  37  SideTable       -3.597         0.004          1.437          0              0              0
  38  SideTable       -3.597         0.004          -1.607         0              0              0
  39  DiningTable     1.883          0.000          -0.291         0              0              0
  40  CoffeeTable     -2.023         0.005          0.018          0              270            0
  41  Chair           1.462          -0.001         0.195          0              164.999        0
  42  Chair           2.288          -0.001         -0.780         0              0              0
  43  Chair           2.223          -0.001         0.149          0              186.648        0
  44  Chair           1.638          -0.001         -0.847         0              0              0
  45  NorthWall
  46  EastWall
  47  SouthWall
  48  WestWall

Plan:
STEP 1: Walk straight to the chairs. Turn right walk to the table and turn left. Walk straight to the table turn left to the trash can and make a right. Walk halfway and turn to face the middle of the table. | STEP 2: Pick up the blue round object closest to you on the table. | STEP 3: Turn right walk to the wall. Turn left take a few steps then turn right. Walk to the table and turn right. Walk straight to the TV make a right. Raise the object until it is level with the lamp. | STEP 4: Turn on the lamp. | END