Task: Carry a newspaper while turning on 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           -1.0           0.906          2.5            0              180            0
   1  KeyChain        -0.178         0.765          2.978          0              180            0              39
   2  RemoteControl   -0.328         0.766          2.978          0              270            0              39
   3  RemoteControl   -0.253         0.766          2.828          0              270            0              39
   4  Pillow          -2.371         0.484          4.491          0              0              0              42
   5  Pillow          -4.503         0.484          2.640          0              270            0              41
   6  Box             -0.688         0.479          0.641          0              90             0              33
   7  CreditCard      -4.531         0.424          3.407          0              0              0              29
   8  TissueBox       -0.534         0.183          3.098          0              270            0              40
   9  Laptop          -1.631         0.417          4.412          0              0              0              42
  10  Vase            -2.880         1.518          0.144          0              0              0
  11  RemoteControl   -0.253         0.766          2.678          0              270            0              39
  12  Pillow          -4.424         0.484          1.653          0              270            0              41
  13  KeyChain        -0.427         0.485          2.157          0              0              0              36
  14  Watch           -0.427         0.485          2.311          0              270            0              39
  15  Newspaper       -0.178         0.763          2.378          0              270            0              39
  16  Statue          -0.204         0.191          2.711          0              270            0              37
  17  Statue          -1.869         1.518          0.145          0              0              0              Floor|+00.00|
  18  Curtains        -1.030         2.113          0.0            0              0              0
  19  Curtains        -3.927         2.113          0.0            0              0              0
  20  HousePlant      -3.127         1.507          0.118          0              0              0
  21  Television      0.0            1.376          2.661          0              270            0
  22  GarbageCan      -0.227         0.005          4.778          0              0              0
  23  DeskLamp        -4.658         0.508          3.318          0              270            0
  24  Painting        -2.507         1.817          0.108          90             0              0
  25  FloorLamp       -4.596         0.006          0.399          0              65.211         0
  26  LightSwitch     -3.233         1.343          5.0            0              180            0
  27  Window          -1.011         1.391          0.029          90             180            0
  28  Window          -3.900         1.391          0.029          90             180            0
  29  Drawer          -4.433         0.473          3.344          0              90             0
  30  SideTable       -4.612         0.009          3.346          0              90             0
  31  Chair           -4.572         0.005          3.862          0              113.899        0
  32  CoffeeTable     -1.972         0.002          2.615          0              270            0
  33  ArmChair        -0.875         0.005          0.566          0              0              0
  34  Shelf           -0.340         0.480          3.046          0              270            0
  35  Shelf           -0.340         0.649          3.046          0              270            0
  36  Shelf           -0.340         0.603          2.312          0              270            0
  37  Shelf           -0.340         0.448          2.678          0              270            0
  38  Shelf           -0.340         0.308          2.312          0              270            0
  39  TVStand         -0.335         0.005          2.679          0              270            0
  40  Shelf           -0.340         0.279          3.046          0              270            0
  41  Sofa            -4.566         0.009          1.880          0              90             0
  42  Sofa            -2.124         0.009          4.558          0              180            0
  43  NorthWall
  44  SouthWall
  45  SouthWall

Plan:
STEP 1: Move right facing the newspaper on the white table top | STEP 2: Pick up the newspaper on top of the white table top | STEP 3: Carry the newspaper to the small white end table to the right of the sofa | STEP 4: Turn on the lamp on top of the end table | END