Task: Turn a lamp on with a vase in hand.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.0            0.900          -0.25          0              90             0
   1  Bowl            -1.283         1.460          -1.519         0              0              0              30
   2  Bowl            -1.283         1.824          -0.515         0              0              0              32
   3  CD              0.368          0.673          -1.684         0              0              0              45
   4  CD              -1.283         1.458          -0.603         0              0              0              31
   5  Pencil          0.368          0.677          -1.781         0              0              0              45
   6  Pen             0.227          0.686          1.212          0              0              0              38
   7  Pen             0.414          0.682          -1.586         0              0              0              45
   8  KeyChain        -0.315         0.837          -2.141         0              0              0              29
   9  AlarmClock      -0.585         0.838          -2.038         0              0              0              29
  10  AlarmClock      -1.259         0.794          -1.760         0              0              0              46
  11  Laptop          -1.123         0.791          -0.385         0              0              0              46
  12  Book            -0.66          0.783          -1.69          0              312.959        0              46
  13  Pencil          -0.180         0.840          -2.072         0              0              0              29
  14  Laptop          -1.005         0.780          -1.477         0              31.363         0              46
  15  Pen             -1.265         0.798          -1.457         0              0              0              46
  16  TennisRacket    -1.226         0.301          -0.069         15.000         180            180
  17  TeddyBear       1.629          0.557          -1.064         0              118.287        0              47
  18  Pillow          1.387          0.666          -0.166         0              0              0              47
  19  CellPhone       -0.964         0.794          -1.760         0              0              0              46
  20  KeyChain        -1.112         0.793          -1.632         0              0              0              46
  21  AlarmClock      0.150          0.682          1.257          0              0              0              38
  22  CreditCard      -0.720         0.836          -2.141         0              0              0              29
  23  CD              -1.052         0.792          -1.028         0              0              0              46
  24  Bowl            -1.283         1.460          -0.778         0              0              0              31
  25  Bed             1.242          -0.001         -0.881         0              180            0
  26  LightSwitch     0.010          1.315          1.499          0              180            0
  27  GarbageCan      0.840          0.007          1.337          0              180            2.168
  28  HousePlant      -0.083         0.828          -2.045         0              0              0
  29  Shelf           -0.469         0.828          -2.038         0              0              0
  30  Shelf           -1.286         1.451          -1.343         0              0              0
  31  Shelf           -1.286         1.451          -0.602         0              0              0
  32  Shelf           -1.286         1.814          -0.602         0              0              0
  33  Shelf           -1.286         1.814          -1.343         0              0              0
  34  Painting        1.111          1.628          -1.865         90             0              0
  35  DeskLamp        0.473          0.669          1.350          0              0              0
  36  Mirror          -1.383         1.565          0.512          0              270            0
  37  Window          -0.472         1.396          -2.252         90             0              0
  38  SideTable       0.304          -0.001         1.225          0              180            0
  39  Drawer          0.304          0.165          1.159          0              180            0
  40  Drawer          0.304          0.457          1.159          0              180            0
  41  Blinds          -0.453         2.156          -2.242         0              0              0
  42  Safe            1.623          5.960          0.448          0              270            0
  43  Chair           -0.683         0.000          -1.326         0              217.223        0
  44  Drawer          0.416          0.532          -1.553         0              0              0
  45  SideTable       0.413          0.000          -1.684         0              0              0
  46  Desk            -0.788         0.000          -1.032         0              90             0
  47
  48  NorthWall
  49  EastWall
  50  SouthWall
  51  WestWall

Plan:
STEP 1: Turn around and face the table with the computer. | STEP 2: Take the vase off of the top shelf above the table. | STEP 3: Turn around and face the table with the lamp with the green shade. | STEP 4: Turn the lamp on. | END