Task: Pick up a vase and turn a lamp on.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -3.5           0.901          2.0            0              90             0
   1  Newspaper       -1.709         0.596          4.211          0              0              0              47
   2  Vase            -2.404         0.037          0.369          0              90             0              36
   3  Vase            -1.094         1.105          0.192          0              0              0              39
   4  Watch           -4.157         0.996          4.290          0              90             0              48
   5  KeyChain        -1.835         0.590          4.470          0              90             0              47
   6  KeyChain        -5.318         1.976          0.066          0              0              0              26
   7  RemoteControl   -0.870         0.611          3.281          0              0              0              57
   8  Box             -3.052         0.421          4.404          0              180            0              52
   9  Box             -3.222         1.329          4.490          0              90             0              53
  10  Watch           -4.505         1.108          4.588          0              90             0              53
  11  Pillow          -2.031         0.668          4.421          0              0              0              47
  12  TissueBox       -4.154         0.201          4.404          0              90             0              50
  13  Newspaper       -5.534         1.045          0.372          0              0              0              35
  14  CreditCard      -2.901         1.111          4.885          0              90             0              53
  15  KeyChain        -0.870         0.609          2.224          0              0              0              57
  16  CellPhone       -0.787         0.617          2.753          0              0              0              57
  17  Statue          -0.192         1.107          1.192          0              270            0              44
  18  Laptop          -3.864         1.105          4.687          0              90             0              53
  19  RemoteControl   -1.035         0.611          3.545          0              0              0              57
  20  Vase            -2.191         0.037          0.265          0              90             0              36
  21  DeskLamp        -4.649         1.051          0.268          0              0              0
  22  DeskLamp        -2.992         1.107          4.522          0              0              0
  23  FloorLamp       -0.650         0.007          4.431          0              0              0
  24  FloorLamp       -5.607         0.007          4.641          0              0              0
  25  Shelf           -5.237         1.776          0.070          0              0              0
  26  Shelf           -5.238         1.968          0.085          0              0              0
  27  Shelf           -5.242         1.391          0.086          0              0              0
  28  Shelf           -5.241         1.582          0.065          0              0              0
  29  LightSwitch     -6.002         1.353          3.404          0              90             0
  30  GarbageCan      -5.794         -0.033         4.073          0              90             0
  31  Painting        -6.017         1.802          4.177          90             270            0
  32  HousePlant      -3.966         1.625          0.135          0              315            0
  33  Television      -3.355         0.833          0.027          0              0              0
  34  Drawer          -5.024         0.903          0.370          0              0              0
  35  SideTable       -5.024         0.008          0.267          0              0              0
  36  Safe            -2.298         5.778          0.268          0              90             0
  37  Shelf           -0.253         0.781          1.058          0              270            0
  38  Shelf           -0.283         0.274          1.066          0              270            0
  39  Shelf           -1.224         1.288          0.270          0              0              0
  40  Shelf           -1.218         1.810          0.275          0              0              0
  41  Shelf           -0.280         1.810          1.057          0              270            0
  42  Shelf           -1.218         0.274          0.262          0              0              0
  43  Shelf           -1.223         0.782          0.237          0              0              0
  44  Shelf           -0.280         1.288          1.055          0              270            0
  45  ShelvingUnit    -0.268         0.004          1.067          0              270            0
  46  ShelvingUnit    -1.218         0.004          0.244          0              0              0
  47  ArmChair        -2.027         0.001          4.422          0              178.692        0
  48  Drawer          -4.329         1.014          4.311          0              180            0
  49  Drawer          -3.750         1.014          4.311          0              180            0
  50  Cabinet         -4.049         0.561          4.212          0              180            0
  51  Cabinet         -4.032         0.561          4.212          0              180            0
  52  Cabinet         -2.884         0.561          4.212          0              180            0
  53  Dresser         -4.041         -0.000         4.589          0              180            0
  54  Drawer          -4.916         1.014          4.311          0              180            0
  55  Drawer          -3.166         1.014          4.311          0              180            0
  56  Cabinet         -5.196         0.561          4.212          0              180            0
  57  Sofa            -0.705         -0.002         2.753          0              270            0
  58  NorthWall
  59  SouthWall
  60  SouthWall

Plan:
STEP 1: Go forward and the to the right to face the white shelves with the gold vase. | STEP 2: Pick the vase up from the shelf. | STEP 3: Turn around and cross the room to face the lamp to the right of the blue chair. | STEP 4: Turn the lamp on. | END