Task: turn on the lamp on the nightstand while holding a white dish

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          -0.5           0              0              0
   1  TissueBox       -0.826         0.635          1.219          0              0              0              40
   2  Newspaper       -0.806         0.127          1.165          0              0              0              39
   3  Newspaper       -0.130         0.896          1.234          0              0              0              41
   4  Statue          1.745          0.757          -1.338         0              0              0              34
   5  RemoteControl   0.283          0.483          -1.151         0              0              0              38
   6  Laptop          0.057          0.557          -1.151         0              0              0              38
   7  Box             -3.780         1.305          0.457          0              0              0              29
   8  Vase            -0.971         0.114          1.197          0              0              0              39
   9  TissueBox       -4.005         1.066          -0.060         0              0              0              29
  10  Newspaper       0.967          0.657          1.192          0              90             0              30
  11  KeyChain        -0.385         0.128          1.202          0              90             0              39
  12  Vase            -1.226         0.137          1.165          0              0              0              39
  13  Statue          0.098          0.904          1.187          0              0              0              41
  14  RemoteControl   1.365          0.458          1.119          0              0              0              31
  15  Pillow          -1.827         0.585          -1.251         0              0              0              32
  16  CreditCard      -0.175         0.127          1.202          0              0              0              39
  17  Laptop          1.267          0.656          1.043          0              0              0              30
  18  Vase            -0.516         0.114          1.201          0              0              0              39
  19  Statue          1.576          0.757          -1.413         0              0              0              34
  20  DeskLamp        1.657          0.654          -1.605         0              0              0
  21  FloorLamp       -4.569         0.005          -1.616         0              15.092         0
  22  LightSwitch     -2.464         1.230          -1.950         0              0              0
  23  GarbageCan      -4.581         -0.032         1.126          0              90             0
  24  Television      -0.549         1.516          1.450          0              180            0
  25  HousePlant      1.555          0.650          1.166          0              0              0
  26  Window          -2.012         1.501          1.468          90             0              0
  27  Window          0.986          1.501          1.468          90             0              0
  28  Painting        -0.698         1.835          -1.911         90             0              0
  29  DiningTable     -3.941         0.005          0.257          0              0              0
  30  SideTable       1.102          -0.000         1.118          0              180            0
  31  Drawer          1.103          0.519          0.834          0              180            0
  32  ArmChair        -1.832         0.010          -1.349         0              0              0
  33  Drawer          1.581          0.523          -1.199         0              0              0
  34  SideTable       1.581          0.003          -1.488         0              0              0
  35  Painting        -4.910         1.763          -0.098         90             270            0
  36  Chair           -4.398         0.002          0.274          0              85.162         0
  37  Chair           -3.825         0.002          -0.223         0              340.163        0
  38  Sofa            0.057          -0.002         -1.386         0              0              0
  39  Shelf           -0.552         0.114          1.252          0              180            0
  40  Drawer          -1.020         0.728          1.032          0              180            0
  41  SideTable       -0.589         0.000          1.227          0              180            0
  42  Drawer          -0.157         0.728          1.032          0              180            0
  43  NorthWall
  44  EastWall
  45  SouthWall
  46  WestWall

Plan:
STEP 1: walk over to the brown cabinet below the television | STEP 2: grab the white dish off of the middle part of the middle shelf | STEP 3: walk over to the brown nightstand | STEP 4: turn on the lamp on the nightstand | END