Task: Turn the living room lamp on.

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          0.906          1.25           0              0              0
   1  Watch           -0.465         0.183          2.157          0              270            0              42
   2  Newspaper       -0.464         0.577          2.994          0              270            0              39
   3  Newspaper       -0.461         0.487          2.362          0              270            0              40
   4  Newspaper       -0.875         0.379          0.712          0              0              0              37
   5  KeyChain        -1.384         0.397          4.649          0              0              0              46
   6  KeyChain        -0.568         0.183          2.208          0              270            0              42
   7  CreditCard      -0.403         0.765          2.528          0              270            0              43
   8  Laptop          -1.631         0.417          4.412          0              0              0              46
   9  Pillow          -4.424         0.484          2.146          0              270            0              45
  10  Box             -2.111         0.293          2.930          0              0              0              36
  11  CreditCard      -0.361         0.426          3.150          0              270            0              38
  12  TissueBox       -0.430         0.184          2.311          0              270            0              42
  13  Laptop          -0.328         0.763          2.828          0              0              0              43
  14  Vase            -2.880         1.518          0.144          0              0              0
  15  RemoteControl   -0.478         0.763          2.528          0              270            0              43
  16  Pillow          -2.865         0.484          4.412          0              0              0              46
  17  KeyChain        -0.178         0.762          2.528          0              270            0              43
  18  Watch           -0.529         0.485          2.208          0              270            0              43
  19  Newspaper       -1.816         0.197          2.872          0              0              0              36
  20  Statue          -1.816         0.205          2.643          0              0              0              36
  21  Statue          -1.869         1.518          0.145          0              0              0              Floor|+00.00|
  22  Curtains        -1.030         2.113          0.0            0              0              0
  23  Curtains        -3.927         2.113          0.0            0              0              0
  24  HousePlant      -3.127         1.507          0.118          0              0              0
  25  Television      0.0            1.376          2.661          0              270            0
  26  GarbageCan      -0.227         0.005          4.778          0              0              0
  27  DeskLamp        -4.658         0.508          3.318          0              270            0
  28  Painting        -2.507         1.817          0.108          90             0              0
  29  FloorLamp       -4.596         0.006          0.399          0              65.211         0
  30  LightSwitch     -3.233         1.343          5.0            0              180            0
  31  Window          -1.011         1.391          0.029          90             180            0
  32  Window          -3.900         1.391          0.029          90             180            0
  33  Drawer          -4.433         0.473          3.344          0              90             0
  34  SideTable       -4.612         0.009          3.346          0              90             0
  35  Chair           -4.572         0.005          3.862          0              113.899        0
  36  CoffeeTable     -1.972         0.002          2.615          0              270            0
  37  ArmChair        -0.875         0.005          0.566          0              0              0
  38  Shelf           -0.340         0.480          3.046          0              270            0
  39  Shelf           -0.340         0.649          3.046          0              270            0
  40  Shelf           -0.340         0.603          2.312          0              270            0
  41  Shelf           -0.340         0.448          2.678          0              270            0
  42  Shelf           -0.340         0.308          2.312          0              270            0
  43  TVStand         -0.335         0.005          2.679          0              270            0
  44  Shelf           -0.340         0.279          3.046          0              270            0
  45  Sofa            -4.566         0.009          1.880          0              90             0
  46  Sofa            -2.124         0.009          4.558          0              180            0
  47  NorthWall
  48  SouthWall
  49  SouthWall

Plan:
STEP 1: Turn to your right and go to the arm chair ahead, to your right.  | STEP 2: Pick up the newspaper, on the seat of the arm chair.  | STEP 3: Turn to your right and go to the lamp in the left corner of the room.  | STEP 4: Turn on the lamp. | END