Task: Hold a blue vase up to the light of a lamp.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           3.0            0.900          0.25           0              270            0
   1  Newspaper       0.167          0.334          0.777          0              0              0              39
   2  Newspaper       1.416          0.480          0.587          0              0              0              33
   3  KeyChain        -1.732         0.597          0.564          0              0              0              36
   4  CreditCard      1.605          0.704          -0.678         0              270            0              27
   5  Laptop          0.085          0.333          0.271          0              0              0              39
   6  Box             -0.221         0.122          -2.044         0              0              0              39
   7  Newspaper       3.482          0.638          -0.983         0              0              0              35
   8  CreditCard      0.250          0.335          0.524          0              0              0              39
   9  Vase            3.704          0.631          -1.009         0              0              0              35
  10  KeyChain        1.291          0.482          0.587          0              0              0              33
  11  Plate           -0.185         0.554          1.979          0              0              0              30
  12  Laptop          3.525          0.631          -1.438         0              271.146        0              35
  13  CellPhone       3.887          0.640          -1.346         0              0              0              35
  14  RemoteControl   3.887          0.642          -1.527         0              0              0              35
  15  Pillow          1.435          0.515          -0.125         0              0              0              33
  16  Vase            0.085          0.339          0.018          0              0              0              39
  17  Statue          -2.042         0.603          0.031          0              270            0              36
  18  ArmChair        -1.761         0.0            -1.488         0              240.000        0
  19  Television      -2.035         1.081          0.555          0              90             0
  20  LightSwitch     2.099          1.353          -0.828         0              90             0
  21  HousePlant      -0.804         0.000          -2.187         0              0              0
  22  FloorLamp       1.689          0.002          1.776          0              90             0
  23  Painting        1.983          1.585          0.326          90             270            0
  24  GarbageCan      -1.891         -0.029         -0.409         0              0              0
  25  Window          2.775          1.281          -2.018         90             180            0
  26  Window          -0.013         1.289          -2.450         90             180            0
  27  SideTable       1.566          0.000          -0.689         0              180            0
  28  Drawer          1.566          0.624          -0.741         0              180            0
  29  Shelf           -0.147         0.172          1.925          0              0              0
  30  Shelf           -0.147         0.552          1.925          0              0              0
  31  Shelf           -0.147         0.880          1.924          0              0              0
  32  ShelvingUnit    -0.147         0.006          1.924          0              0              0
  33  Sofa            1.556          -0.004         0.424          0              270            0
  34  Shelf           0.167          0.104          0.200          0              270            0
  35  DiningTable     3.583          0.000          -1.164         0              270            0
  36  TVStand         -1.965         0.000          0.563          0              270            0
  37  Shelf           -1.964         0.082          0.563          0              270            0
  38  Shelf           -1.964         0.333          0.563          0              270            0
  39  CoffeeTable     0.167          0.001          0.216          0              270            0
  40  NorthWall
  41  EastWall
  42  SouthWall
  43  WestWall

Plan:
STEP 1: Turn and go into the living room, go to the coffee table, face the coffee table. | STEP 2: Pick up the blue vase. | STEP 3: Turn right, then left, go to the lamp at the end of the couch. | STEP 4: Turn on the lamp | END