Task: Examine a vase under a tall lamp

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.75          0.902          -3.0           0              270            0
   1  CreditCard      -0.847         0.741          1.202          0              0              0              36
   2  RemoteControl   -4.247         1.269          0.322          0              0              0              26
   3  Box             -0.355         1.031          1.593          0              0              0              36
   4  Box             -3.687         0.684          4.148          0              270            0              60
   5  Pillow          -1.913         0.446          5.916          0              180            0              59
   6  Pillow          -1.413         0.446          5.916          0              180            0              59
   7  Laptop          -3.483         0.392          3.615          0              90             0              60
   8  Laptop          -1.783         0.653          -2.074         0              0              0              57
   9  Box             -2.465         0.945          -2.202         0              0              0              57
  10  Vase            -0.202         0.701          5.464          0              315            0              51
  11  CellPhone       -4.208         1.271          0.771          0              0              0              26
  12  WateringCan     -3.580         0.003          5.503          4.139          0              0              Floor|-04.41|
  13  KeyChain        -2.413         0.319          2.695          0              0              0              67
  14  Vase            -4.242         0.789          1.181          0              0              0              29
  15  Vase            -4.228         0.789          0.756          0              0              0              29
  16  Laptop          -2.700         0.316          2.617          0              0              0              67
  17  Pillow          -3.587         0.643          5.016          317.310        0              0              60
  18  RemoteControl   -3.789         0.395          4.148          0              90             0              60
  19  CreditCard      -4.287         1.652          0.920          0              0              0              28
  20  Vase            -4.225         0.789          0.382          0              0              0              29
  21  Statue          -4.287         1.654          0.471          0              90             0              28
  22  Statue          -2.106         0.462          4.048          0              0              0              70
  23  Statue          -2.106         0.554          3.910          0              0              0              70
  24  Shelf           -4.253         2.157          0.771          0              0              0
  25  Painting        -3.368         1.741          -0.298         0              0              0
  26  Shelf           -4.253         1.306          0.771          0              0              0
  27  Painting        -1.756         1.424          -3.595         0              0              0
  28  Shelf           -4.253         1.690          0.771          0              0              0
  29  Shelf           -4.261         0.833          0.771          0              0              0
  30  Drawer          0.411          0.581          1.221          0              180            0
  31  Drawer          -0.000         0.170          1.221          0              180            0
  32  Drawer          -0.000         0.581          1.221          0              180            0
  33  Drawer          0.411          0.375          1.221          0              180            0
  34  Drawer          0.411          0.170          1.221          0              180            0
  35  Drawer          -0.000         0.375          1.221          0              180            0
  36  Desk            -0.352         0.003          1.371          0              180            0
  37  FloorLamp       0.391          -0.001         5.157          0              0              0
  38  Window          -2.828         0.470          -0.157         90             199.328        0
  39  Window          -4.410         1.702          1.787          90             270            0
  40  Window          -3.638         1.702          6.735          90             0              0
  41  Window          -4.410         1.702          2.790          90             270            0
  42  Window          -2.827         1.702          -0.157         90             199.328        0
  43  Window          -0.131         1.702          6.735          90             0              0
  44  Window          -1.013         1.702          -0.154         90             159.633        0
  45  Window          -4.410         1.702          5.980          90             270            0
  46  Television      -0.153         1.176          5.790          0              225            0
  47  GarbageCan      0.357          0.003          2.159          0              90             0
  48  DeskLamp        0.277          0.735          1.381          0              0              0
  49  HousePlant      -1.819         0.641          -2.011         0              315            0
  50  LightSwitch     -2.740         1.495          -0.405         0              180            0
  51  TVStand         -0.118         0.001          5.874          0              45             0
  52  Chair           -1.353         0.002          -2.872         0              349.207        0
  53  Chair           -2.220         0.002          -1.298         0              168.118        0
  54  Chair           -1.515         0.007          -1.331         358.639        187.454        0
  55  Chair           -2.189         0.002          -2.835         0              2.328          0
  56  Safe            0.174          0.001          -0.071         0              323.940        0
  57  DiningTable     -1.783         0.003          -2.039         0              0              0
  58  Chair           -0.636         0.010          0.993          0              358.396        0
  59  Sofa            -2.161         0.006          6.115          0              180            0
  60  Sofa            -3.782         0.006          4.153          0              90             0
  61  Shelf           -1.095         0.607          1.321          0              180            0
  62  Shelf           -1.267         0.607          1.321          0              180            0
  63  Shelf           -1.267         0.401          1.321          0              180            0
  64  Shelf           -1.095         0.196          1.320          0              180            0
  65  Shelf           -1.095         0.401          1.321          0              180            0
  66  Shelf           -1.267         0.196          1.320          0              180            0
  67  ArmChair        -2.628         0.009          2.421          0              0              0
  68  Chair           -0.485         0.010          4.452          0              270            0
  69  Chair           -0.431         0.010          3.595          0              270            0
  70  CoffeeTable     -1.965         0.000          4.187          0              0              0
  71  NorthWall
  72  EastWall
  73  SouthWall
  74  WestWall

Plan:
STEP 1: Turn around and walk to the wall, turn left and walk to the wall, turn left move forward then hand right to walk through the entry way and cross the room to the TV stand. | STEP 2: Pick up the yellow vase that is sitting on the TV stand | STEP 3: turn around and cross the room, after passing the chairs take a left and then take another left to round the chairs and walk to the tall floor lamp | STEP 4: Lift the vase up and turn on the lamp | END