Task: Read the newspaper under 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          0.907          6.5            0              180            0
   1  Bowl            -1.132         0.880          0.218          0              90             0              59
   2  TissueBox       -4.659         0.756          -0.749         0              0              0              55
   3  TissueBox       -4.295         0.756          -0.255         0              0              0              57
   4  Newspaper       0.628          0.437          5.075          0              270            0              50
   5  Watch           -4.842         0.754          -0.131         0              0              0              53
   6  Watch           -3.930         0.754          -0.502         0              0              0              57
   7  Vase            0.578          0.554          3.056          0              0              0              42
   8  KeyChain        0.193          0.358          2.734          0              90             0              44
   9  KeyChain        0.278          0.425          4.184          0              180            0              49
  10  Book            0.492          0.552          2.304          0              0              0              42
  11  Book            -1.320         0.450          2.795          0              0              0              58
  12  CellPhone       0.226          0.357          2.605          0              180            0              44
  13  CreditCard      -1.320         0.449          2.086          0              0              0              58
  14  RemoteControl   -1.671         0.452          3.031          0              0              0              58
  15  RemoteControl   -1.320         0.452          1.849          0              0              0              58
  16  Book            0.419          0.432          4.883          0              0              0              50
  17  Box             0.957          0.286          6.189          0              327.955        0              50
  18  Pillow          -1.320         0.524          2.086          0              0              0              58
  19  Bowl            -4.659         0.756          -0.255         0              0              0              57
  20  WateringCan     -0.816         0.005          0.189          0              0              0
  21  TissueBox       -1.340         0.882          0.218          0              90             0              59
  22  Newspaper       -4.659         0.761          -0.502         0              0              0              55
  23  CreditCard      -1.087         0.449          2.795          0              0              0              58
  24  KeyChain        0.816          0.425          4.371          0              90             0              49
  25  Boots           -6.309         0.006          1.252          0              92.842         0
  26  Pencil          0.553          0.040          2.734          0              0              0              47
  27  Laptop          0.278          0.422          4.371          0              90             0              49
  28  Vase            0.578          0.554          2.605          0              0              0              42
  29  RemoteControl   0.419          0.434          5.171          0              0              0              50
  30  Watch           0.521          0.359          2.605          0              0              0              48
  31  CellPhone       -4.477         0.754          -0.502         0              0              0              57
  32  Plate           -4.044         0.748          -0.078         0              0              0              56
  33  Painting        -6.5           1.759          -0.341         0              0              0
  34  Painting        0.704          1.778          0.782          0              0              0
  35  Television      1.5            1.690          2.562          0              270            0
  36  FloorLamp       1.111          0.007          6.805          0              0              0
  37  GarbageCan      -6.128         -0.003         2.800          0              0              0
  38  LightSwitch     -6.5           1.498          1.345          0              90             0
  39  HousePlant      -0.753         0.874          0.209          0              0              0
  40  Window          1.496          1.712          4.454          90             90             0
  41  Window          -4.210         1.577          -1.980         90             180            0
  42  CoffeeTable     0.405          0.008          2.605          0              270            0
  43  Drawer          0.597          0.234          2.604          0              270            0
  44  Drawer          0.214          0.393          2.604          0              270            0
  45  Drawer          0.214          0.234          2.609          0              270            0
  46  Drawer          0.214          0.075          2.604          0              270            0
  47  Drawer          0.597          0.075          2.604          0              270            0
  48  Drawer          0.597          0.393          2.604          0              270            0
  49  Ottoman         0.493          0.006          4.309          0              0              0
  50  ArmChair        0.420          0.014          5.129          0              180            0
  51  Chair           -4.664         0.008          0.164          0              180            0
  52  Chair           -3.424         0.008          -0.321         0              270            0
  53  Chair           -4.988         0.008          -0.401         0              90             0
  54  Chair           -3.904         0.008          -0.827         0              0              0
  55  Chair           -4.570         0.008          -0.831         0              0              0
  56  Chair           -3.996         0.008          0.091          0              180            0
  57  DiningTable     -4.295         0.006          -0.378         0              0              0
  58  Sofa            -1.527         0.013          2.559          0              90             0
  59  SideTable       -1.030         0.006          0.160          0              0              0
  60  Drawer          -1.030         0.780          0.225          0              0              0
  61  NorthWall
  62  EastWall
  63  SouthWall
  64  WestWall

Plan:
STEP 1: Turn left and walk to the purple chair.  | STEP 2: Pick up the newspaper from the chair.  | STEP 3: Walk behind the chair and stand by the tall lamp.  | STEP 4: Turn the lamp on. | END