Task: Carry a vase while turning on 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           -4.25          0.901          3.0            0              270            0
   1  Newspaper       -1.369         1.107          0.265          0              0              0              43
   2  CellPhone       -4.563         0.861          0.323          0              0              0              38
   3  CellPhone       -1.459         0.593          0.221          0              0              0              47
   4  Statue          -0.273         1.597          1.006          0              270            0              45
   5  Statue          -3.863         1.117          4.490          0              90             0              57
   6  Vase            -4.016         0.203          4.404          0              90             0              55
   7  Watch           -2.298         0.034          0.421          0              90             0              40
   8  Watch           -2.191         0.034          0.317          0              90             0              40
   9  RemoteControl   -0.787         0.611          2.224          0              0              0              61
  10  Box             -4.184         1.332          4.687          0              90             0              57
  11  Box             -3.570         0.425          4.587          0              0              0              55
  12  Laptop          -1.584         0.588          4.297          0              0              0              51
  13  Box             -4.741         0.425          4.587          0              0              0              60
  14  Watch           -2.297         0.034          0.265          0              90             0              40
  15  Pillow          -2.031         0.668          4.421          0              0              0              51
  16  TissueBox       -5.194         1.040          0.438          0              0              0              39
  17  Newspaper       -0.213         0.079          1.194          0              90             0              42
  18  CreditCard      -3.105         0.995          4.313          0              90             0              59
  19  KeyChain        -2.990         0.997          4.267          0              90             0              59
  20  CellPhone       -1.584         0.590          4.644          0              0              0              51
  21  Statue          -3.864         1.113          4.786          0              90             0              57
  22  Laptop          -3.393         1.104          4.492          0              191.867        0              57
  23  RemoteControl   -5.534         1.041          0.306          0              0              0              39
  24  Vase            -4.673         0.207          4.331          0              90             0              60
  25  DeskLamp        -4.649         1.051          0.268          0              0              0
  26  DeskLamp        -2.992         1.107          4.522          0              0              0
  27  FloorLamp       -0.650         0.007          4.431          0              0              0
  28  FloorLamp       -5.607         0.007          4.641          0              0              0
  29  Shelf           -5.237         1.776          0.070          0              0              0
  30  Shelf           -5.238         1.968          0.085          0              0              0
  31  Shelf           -5.242         1.391          0.086          0              0              0
  32  Shelf           -5.241         1.582          0.065          0              0              0
  33  LightSwitch     -6.002         1.353          3.404          0              90             0
  34  GarbageCan      -5.794         -0.033         4.073          0              90             0
  35  Painting        -6.017         1.802          4.177          90             270            0
  36  HousePlant      -3.966         1.625          0.135          0              315            0
  37  Television      -3.355         0.833          0.027          0              0              0
  38  Drawer          -5.024         0.903          0.370          0              0              0
  39  SideTable       -5.024         0.008          0.267          0              0              0
  40  Safe            -2.298         5.778          0.268          0              90             0
  41  Shelf           -0.253         0.781          1.058          0              270            0
  42  Shelf           -0.283         0.274          1.066          0              270            0
  43  Shelf           -1.224         1.288          0.270          0              0              0
  44  Shelf           -1.218         1.810          0.275          0              0              0
  45  Shelf           -0.280         1.810          1.057          0              270            0
  46  Shelf           -1.218         0.274          0.262          0              0              0
  47  Shelf           -1.223         0.782          0.237          0              0              0
  48  Shelf           -0.280         1.288          1.055          0              270            0
  49  ShelvingUnit    -0.268         0.004          1.067          0              270            0
  50  ShelvingUnit    -1.218         0.004          0.244          0              0              0
  51  ArmChair        -2.027         0.001          4.422          0              178.692        0
  52  Drawer          -4.329         1.014          4.311          0              180            0
  53  Drawer          -3.750         1.014          4.311          0              180            0
  54  Cabinet         -4.049         0.561          4.212          0              180            0
  55  Cabinet         -4.032         0.561          4.212          0              180            0
  56  Cabinet         -2.884         0.561          4.212          0              180            0
  57  Dresser         -4.041         -0.000         4.589          0              180            0
  58  Drawer          -4.916         1.014          4.311          0              180            0
  59  Drawer          -3.166         1.014          4.311          0              180            0
  60  Cabinet         -5.196         0.561          4.212          0              180            0
  61  Sofa            -0.705         -0.002         2.753          0              270            0
  62  NorthWall
  63  SouthWall
  64  SouthWall

Plan:
STEP 1: Move to the bottom left side of the cabinet | STEP 2: Pick up the gold vase in the cabinet | STEP 3: Carry the gold vase to the floor lamp on the right | STEP 4: Turn on the lamp | END