Task: Hold a plate and turn on 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           1.75           0.900          -1.75          0              0              0
   1  Vase            -1.862         0.233          2.787          0              0              0              35
   2  Candle          -2.184         0.447          0.273          0              0              0              40
   3  KeyChain        -0.371         0.191          0.981          0              270            0              32
   4  KeyChain        -1.763         0.191          -1.366         0              0              0              33
   5  RemoteControl   -3.428         0.585          0.723          0              0              0              34
   6  RemoteControl   -2.266         0.448          0.145          0              0              0              40
   7  Box             2.105          0.936          -0.292         0              270            0              39
   8  Box             1.27           0.155          -0.293         0              9.804          0              39
   9  Candle          -1.516         0.233          2.787          0              0              0              35
  10  Vase            -2.242         0.711          2.875          0              0              0              36
  11  CreditCard      -1.734         0.708          2.744          0              0              0              36
  12  Vase            -2.020         0.456          0.273          0              0              0              40
  13  WateringCan     -3.252         -0.000         -1.861         0              0              0
  14  Laptop          1.662          0.782          -0.415         0              0              0              39
  15  RemoteControl   -0.378         0.192          1.922          0              270            0              31
  16  Statue          -3.592         0.705          1.431          0              90             0              37
  17  KeyChain        -2.242         0.708          2.656          0              0              0              36
  18  Pillow          -3.341         0.645          -0.297         0              0              0              34
  19  Plate           1.219          0.789          0.077          0              0              0              39
  20  Statue          2.548          0.794          -0.538         0              0              0              39
  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: Turn to the left, and right to face the table on the right side. | STEP 2: Pick up the plate from the table, close the to the left edge. | STEP 3: Carry the plate and turn around. Turn right at the coffee table and then right again to find the lamp. | STEP 4: Hold the plate and turn on the lamp. | END