Task: Turn on a lamp with a plate in hand.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.25          0.900          -1.5           0              270            0
   1  Plate           3.381          0.643          -0.802         0              0              0              41
   2  Plate           1.351          0.709          -0.710         0              270            0              33
   3  Newspaper       3.786          0.638          -0.802         0              0              0              41
   4  Newspaper       0.003          0.334          0.018          0              0              0              Floor|+00.00|
   5  Statue          0.250          0.345          0.397          0              0              0              45
   6  CellPhone       1.479          0.482          0.391          0              0              0              39
   7  CellPhone       -1.819         0.094          0.066          0              0              0              43
   8  CreditCard      -0.078         0.335          0.397          0              0              0              45
   9  CreditCard      -1.732         0.592          0.208          0              0              0              42
  10  RemoteControl   -0.078         0.337          0.018          0              0              0              45
  11  RemoteControl   0.332          0.337          0.777          0              0              0              45
  12  Box             -0.221         0.122          -2.044         0              0              0              45
  13  Newspaper       -1.697         0.289          -1.451         0              240.000        0              24
  14  CreditCard      -1.887         0.592          1.096          0              0              0              46
  15  Vase            -0.081         0.556          1.876          0              0              0              36
  16  KeyChain        -1.732         0.593          0.741          0              0              0              42
  17  Plate           1.605          0.709          -0.710         0              270            0              33
  18  Laptop          1.479          0.480          0.784          0              0              0              39
  19  CellPhone       -1.732         0.597          0.919          0              0              0              46
  20  RemoteControl   0.167          0.337          0.018          0              0              0              45
  21  Pillow          1.435          0.515          -0.125         0              0              0              39
  22  Vase            0.085          0.339          0.651          0              0              0              45
  23  Statue          -2.042         0.603          0.031          0              270            0              42
  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
  47  NorthWall
  48  EastWall
  49  SouthWall
  50  WestWall

Plan:
STEP 1: Turn around, walk to the doorway, turn left to face the table when you reach the doorway. | STEP 2: Grab a plate on top of the table. | STEP 3: Turn left, turn right to face the coffee table and couch, walk straight to the shelf, and turn right to face the lamp. | STEP 4: Turn on the lamp. | END