Task: Grab the newspaper on the sofa, turn on the lamp in the corner

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -3.75          0.905          2.75           0              90             0
   1  Statue          -4.185         0.422          0.414          0              0              0              39
   2  Statue          -0.195         0.867          4.013          0              0              0              44
   3  Newspaper       -1.638         0.501          0.578          0              0              0              42
   4  Watch           -2.113         0.607          4.189          0              90             0              21
   5  KeyChain        -2.264         1.098          4.371          0              270            0              23
   6  CreditCard      -1.876         0.454          1.925          0              0              0              37
   7  RemoteControl   -2.229         0.503          0.484          0              0              0              42
   8  RemoteControl   -2.116         1.099          4.226          0              0              0              23
   9  Box             -1.7           0.307          4.296          0              0              0              Floor|-03.53|
  10  Watch           -2.56          1.100          4.299          0              0              0              23
  11  Pillow          -2.820         0.596          0.390          0              0              0              42
  12  WateringCan     -0.269         0.005          2.366          1.834          0              0              Floor|-03.53|
  13  Newspaper       -2.525         0.501          0.202          0              0              0              42
  14  KeyChain        -0.138         0.856          3.663          0              0              0              44
  15  Laptop          -3.292         0.486          0.396          0              40.455         0              42
  16  RemoteControl   -1.461         0.456          1.821          0              0              0              37
  17  CreditCard      -2.783         0.606          4.189          0              90             0              22
  18  Statue          -0.366         0.867          3.896          0              0              0              44
  19  Curtains        -0.089         2.460          2.111          0              0              0
  20  Curtains        -1.146         1.383          4.530          0              0              0
  21  Drawer          -2.288         0.267          4.112          0              180            0
  22  Drawer          -2.836         0.750          4.111          0              180            0
  23  Dresser         -2.560         0.005          4.224          0              180            0
  24  Drawer          -2.834         0.267          4.113          0              180            0
  25  Drawer          -2.288         0.749          4.110          0              180            0
  26  LightSwitch     -7.0           1.363          2.605          0              74.999         0
  27  Television      -2.554         1.583          4.300          0              180            0
  28  FloorLamp       -0.301         0.014          -0.129         1.374          0              0
  29  Painting        0.0            1.583          4.006          90             270            0
  30  DeskLamp        -6.766         0.411          -0.028         0              0              0
  31  GarbageCan      -4.115         -0.032         -0.161         0              0              0
  32  Painting        -3.704         1.718          4.600          90             180            0
  33  Window          -0.037         1.705          2.096          90             270            0
  34  Window          -1.157         1.697          4.593          90             180            0
  35  HousePlant      -0.287         0.395          2.108          0              0              0
  36  Chair           -6.022         0.005          0.092          0              338.430        0
  37  Ottoman         -1.773         0.004          1.807          0              0              0
  38  SideTable       -6.720         0.006          1.513          0              326.715        0
  39  SideTable       -4.292         0.006          0.413          0              0              0
  40  ArmChair        -4.384         0.008          1.395          0              90             0
  41  SideTable       -0.253         0.004          2.102          0              0              0
  42  Sofa            -2.524         0.010          0.263          0              0              0
  43  Drawer          -0.357         0.208          3.798          0              0              0
  44  Dresser         -0.271         0.004          4.011          0              270            0
  45  Drawer          -0.359         0.581          3.795          0              0              0
  46  Drawer          -0.357         0.583          4.225          0              0              0
  47  Drawer          -0.358         0.210          4.221          0              0              0
  48  DogBed          -0.844         0.007          0.138          0              90             0
  49  NorthWall
  50  EastWall
  51  SouthWall
  52  WestWall

Plan:
STEP 1: Turn right, walk to the sofa, turn left, walk to the newspaper on the right | STEP 2: Grab the newspaper on the sofa | STEP 3: Turn right, walk across the room to the corner with an end table | STEP 4: Turn on the lamp on the end table | END