Task: Turning on the lamp while holding a newspaper

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -2.25          0.900          1.0            0              90             0
   1  TissueBox       -0.589         0.900          1.140          0              0              0              42
   2  TissueBox       0.098          0.900          1.280          0              0              0              42
   3  Newspaper       -0.806         0.127          1.165          0              0              0              40
   4  KeyChain        -2.087         0.510          -1.293         0              0              0              33
   5  RemoteControl   1.829          0.657          -1.639         0              0              0              35
   6  RemoteControl   -4.096         1.064          0.447          0              135            0              30
   7  CreditCard      -1.226         0.127          1.165          0              0              0              40
   8  Box             -3.780         1.305          0.457          0              0              0              30
   9  Vase            -0.818         0.897          1.140          0              0              0              42
  10  TissueBox       -0.175         0.129          1.202          0              0              0              40
  11  Newspaper       -0.396         0.481          -1.151         0              0              0              39
  12  KeyChain        0.994          0.458          1.016          0              0              0              32
  13  Vase            -4.069         1.072          0.047          0              0              0              30
  14  Statue          1.407          0.661          -1.489         0              0              0              35
  15  RemoteControl   0.283          0.483          -1.067         0              0              0              39
  16  Pillow          -1.827         0.585          -1.251         0              0              0              33
  17  CreditCard      -3.691         1.065          -0.003         0              135            0              30
  18  Laptop          0.434          0.541          -1.187         0              0              0              39
  19  Vase            -0.516         0.114          1.201          0              0              0              40
  20  Statue          1.829          0.757          -1.413         0              0              0              35
  21  DeskLamp        1.657          0.654          -1.605         0              0              0
  22  FloorLamp       -4.569         0.005          -1.616         0              15.092         0
  23  LightSwitch     -2.464         1.230          -1.950         0              0              0
  24  GarbageCan      -4.581         -0.032         1.126          0              90             0
  25  Television      -0.549         1.516          1.450          0              180            0
  26  HousePlant      1.555          0.650          1.166          0              0              0
  27  Window          -2.012         1.501          1.468          90             0              0
  28  Window          0.986          1.501          1.468          90             0              0
  29  Painting        -0.698         1.835          -1.911         90             0              0
  30  DiningTable     -3.941         0.005          0.257          0              0              0
  31  SideTable       1.102          -0.000         1.118          0              180            0
  32  Drawer          1.103          0.519          0.834          0              180            0
  33  ArmChair        -1.832         0.010          -1.349         0              0              0
  34  Drawer          1.581          0.523          -1.199         0              0              0
  35  SideTable       1.581          0.003          -1.488         0              0              0
  36  Painting        -4.910         1.763          -0.098         90             270            0
  37  Chair           -4.398         0.002          0.274          0              85.162         0
  38  Chair           -3.825         0.002          -0.223         0              340.163        0
  39  Sofa            0.057          -0.002         -1.386         0              0              0
  40  Shelf           -0.552         0.114          1.252          0              180            0
  41  Drawer          -1.020         0.728          1.032          0              180            0
  42  SideTable       -0.589         0.000          1.227          0              180            0
  43  Drawer          -0.157         0.728          1.032          0              180            0
  44  NorthWall
  45  EastWall
  46  SouthWall
  47  WestWall

Plan:
STEP 1: Head straight and stop at the large brown table | STEP 2: Grab the newspaper off of the shelf on the table | STEP 3: Turn around and go to the end table with the lamp on it | STEP 4: Turn on the lamp | END