Task: examine dog with 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           2.5            0.900          -0.5           0              90             0
   1  Newspaper       -0.289         0.549          1.772          0              0              0              36
   2  Newspaper       3.685          0.638          -1.527         0              0              0              41
   3  Statue          0.021          0.561          1.927          0              0              0              36
   4  Statue          -2.042         0.606          1.096          0              270            0              42
   5  Statue          1.689          0.715          -0.742         0              0              0              33
   6  CellPhone       0.414          0.336          0.018          0              0              0              45
   7  CreditCard      -1.775         0.345          0.398          0              0              0              44
   8  RemoteControl   0.085          0.337          0.018          0              0              0              45
   9  RemoteControl   -2.120         0.599          0.031          0              0              0              42
  10  Laptop          0.250          0.333          0.651          0              0              0              45
  11  Pillow          1.416          0.552          0.587          0              0              0              39
  12  Box             -0.221         0.122          -2.044         0              0              0              45
  13  Newspaper       1.479          0.480          0.194          0              0              0              39
  14  CreditCard      0.121          0.878          1.955          0              0              0              37
  15  Vase            3.482          0.644          -1.165         0              0              0              41
  16  KeyChain        1.291          0.616          -0.791         0              90             0              34
  17  Plate           3.786          0.643          -0.983         0              0              0              41
  18  Laptop          0.167          0.333          0.271          0              0              0              45
  19  CellPhone       1.436          0.706          -0.773         0              270            0              33
  20  RemoteControl   1.291          0.484          0.784          0              0              0              39
  21  Pillow          1.435          0.515          -0.125         0              0              0              39
  22  Vase            0.250          0.339          0.018          0              0              0              45
  23  Statue          -0.081         0.561          1.772          0              0              0              36
  24  ArmChair        -1.761         0.0            -1.488         0              240.000        0
  25  Television      -2.035         1.081          0.555          0              90             0
  26  LightSwitch     2.099          1.353          -0.828         0              90             0
  27  HousePlant      -0.804         0.000          -2.187         0              0              0
  28  FloorLamp       1.689          0.002          1.776          0              90             0
  29  Painting        1.983          1.585          0.326          90             270            0
  30  GarbageCan      -1.891         -0.029         -0.409         0              0              0
  31  Window          2.775          1.281          -2.018         90             180            0
  32  Window          -0.013         1.289          -2.450         90             180            0
  33  SideTable       1.566          0.000          -0.689         0              180            0
  34  Drawer          1.566          0.624          -0.741         0              180            0
  35  Shelf           -0.147         0.172          1.925          0              0              0
  36  Shelf           -0.147         0.552          1.925          0              0              0
  37  Shelf           -0.147         0.880          1.924          0              0              0
  38  ShelvingUnit    -0.147         0.006          1.924          0              0              0
  39  Sofa            1.556          -0.004         0.424          0              270            0
  40  Shelf           0.167          0.104          0.200          0              270            0
  41  DiningTable     3.583          0.000          -1.164         0              270            0
  42  TVStand         -1.965         0.000          0.563          0              270            0
  43  Shelf           -1.964         0.082          0.563          0              270            0
  44  Shelf           -1.964         0.333          0.563          0              270            0
  45  CoffeeTable     0.167          0.001          0.216          0              270            0
  46  NorthWall
  47  EastWall
  48  SouthWall
  49  WestWall

Plan:
STEP 1: turn right, walk towards window, turn right, take a few steps, turn right to walk between couch and coffee table, walk forward, turn left, turn right to face shelves | STEP 2: take the white dog from the shelf | STEP 3: turn right, walk forward to lamp, hold dog up | STEP 4: turn the lamp on | END