Task: turn on a lamp while holding a news paper

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -4.5           0.927          2.75           0              180            0
   1  Plate           -5.571         0.648          2.212          0              0              0              76
   2  Plate           -6.062         0.648          3.266          0              0              0              76
   3  Newspaper       -5.694         0.641          2.564          0              0              0              76
   4  CreditCard      -1.756         0.278          3.365          0              300.000        0              79
   5  CreditCard      -1.638         0.166          0.395          0              0              0              43
   6  RemoteControl   -0.548         0.167          0.282          0              0              0              43
   7  RemoteControl   -0.730         0.167          0.319          0              0              0              43
   8  Box             -5.571         0.823          3.266          0              0              0              76
   9  Box             -5.939         0.823          1.510          0              0              0              76
  10  Box             -2.362         0.657          0.306          0              300.000        0              51
  11  Statue          -0.904         0.490          0.314          0              90             0              48
  12  KeyChain        -5.480         0.398          5.240          0              0              0              39
  13  Vase            -1.701         0.930          0.179          0              0              0              31
  14  Vase            -0.764         0.940          0.203          0              0              0              48
  15  Vase            -6.185         0.646          1.861          0              0              0              76
  16  Newspaper       -6.062         0.641          2.212          0              0              0              76
  17  CreditCard      -3.052         0.748          5.253          0              0              0              60
  18  RemoteControl   -1.434         0.618          3.459          0              300.000        0              79
  19  Laptop          -2.668         0.298          1.999          0              270            0              80
  20  Pillow          -2.925         0.332          3.451          0              0              0              77
  21  Vase            -4.470         1.587          5.206          0              0              0              38
  22  Statue          -5.571         0.651          1.510          0              0              0              76
  23  Vase            -1.352         1.258          0.228          0              0              0              55
  24  Plate           -3.259         0.492          0.264          0              90             0              51
  25  Vase            -4.958         0.940          5.201          0              0              0              45
  26  Statue          -5.033         1.566          5.212          0              180            0              58
  27  Statue          -0.812         1.565          0.209          0              0              0              50
  28  Statue          -5.694         0.651          1.861          0              0              0              76
  29  Statue          -3.174         1.105          5.193          0              0              0              59
  30  Statue          -5.865         0.634          2.786          0              65.579         0              76
  31  Shelf           -1.776         0.988          0.184          0              180            0
  32  Chair           -5.413         0.024          1.780          0              0              0
  33  Cabinet         -5.365         1.170          5.031          0              0              0
  34  Chair           -5.388         0.024          3.369          0              355.695        0
  35  Chair           -6.211         0.024          2.517          0              172.601        0
  36  Shelf           -3.937         0.988          5.170          0              0              0
  37  Shelf           -6.572         1.144          5.170          0              0              0
  38  Cabinet         -4.181         1.873          5.029          0              0              0
  39  Shelf           -5.606         0.444          5.170          0              0              0
  40  Drawer          -6.324         0.823          5.001          0              0              0
  41  Cabinet         -2.017         1.714          0.323          0              180            0
  42  Cabinet         -2.465         1.329          5.029          0              0              0
  43  Drawer          -1.093         0.233          0.462          0              0              0
  44  Shelf           -4.672         1.317          5.170          0              0              0
  45  Shelf           -4.672         0.998          5.170          0              0              0
  46  Shelf           -2.221         0.444          5.170          0              0              0
  47  Drawer          -6.324         0.508          5.001          0              0              0
  48  Shelf           -1.041         0.998          0.184          0              180            0
  49  Drawer          -4.264         0.233          0.462          0              0              0
  50  Shelf           -0.810         1.688          0.185          0              180            0
  51  Shelf           -2.671         0.610          0.272          0              90             0
  52  Drawer          -2.681         0.233          0.462          0              0              0
  53  Drawer          -2.940         0.508          5.001          0              0              0
  54  Cabinet         -3.696         1.714          5.031          0              0              0
  55  Shelf           -1.041         1.317          0.184          0              180            0
  56  Cabinet         -1.532         1.873          0.325          0              180            0
  57  Chair           -5.382         0.024          2.695          0              6.230          0
  58  Shelf           -4.903         1.688          5.170          0              0              0
  59  Shelf           -3.187         1.144          5.170          0              0              0
  60  Drawer          -2.940         0.823          5.001          0              0              0
  61  Chair           -6.252         0.024          3.427          0              195.000        0
  62  Cabinet         -5.850         1.329          5.029          0              0              0
  63  Cabinet         -1.980         1.170          5.031          0              0              0
  64  Chair           -6.296         0.024          1.672          0              180            0
  65  FloorLamp       -0.369         0.016          4.992          0              59.992         0
  66  GarbageCan      -6.846         0.024          0.258          0              91.057         0
  67  Television      -3.503         1.506          0.001          0              0              0
  68  LightSwitch     0.0            1.184          4.410          0              270            0
  69  HousePlant      -1.105         0.315          2.740          0              0              0
  70  Painting        -5.769         1.394          -0.026         90             180            0
  71  Window          0.001          1.246          2.471          90             270            0
  72  Window          0.001          1.246          3.558          90             270            0
  73  Window          0.001          1.246          1.368          90             270            0
  74  Painting        -0.967         1.396          5.268          90             180            0
  75  CoffeeTable     -3.002         0.028          1.726          0              0              0
  76  DiningTable     -5.816         0.025          2.563          0              270            0
  77  Sofa            -3.328         0.023          3.632          0              180            0
  78  ArmChair        -1.012         0.028          2.084          0              270            0
  79  ArmChair        -1.577         0.028          3.295          0              210.000        0
  80  CoffeeTable     -2.667         0.025          1.999          0              5.810          0
  81  NorthWall
  82  EastWall
  83  SouthWall
  84  WestWall

Plan:
STEP 1: walk over to the dining table | STEP 2: grab the newspaper off of the table | STEP 3: walk over to the lamp in the corner of the room | STEP 4: turn on the lamp | END