Task: Carry a newspaper 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           -2.5           0.901          3.75           0              270            0
   1  Newspaper       -4.673         0.210          4.523          0              90             0              60
   2  Newspaper       -3.503         0.210          4.459          0              90             0              55
   3  Newspaper       -1.584         0.596          4.384          0              0              0              51
   4  CellPhone       -0.952         0.615          2.488          0              0              0              61
   5  Statue          -4.184         1.117          4.687          0              90             0              57
   6  Statue          -0.265         1.107          1.192          0              270            0              48
   7  Watch           -3.543         1.111          4.292          0              90             0              53
   8  KeyChain        -1.584         0.590          4.644          0              180            0              51
   9  CreditCard      -5.132         1.975          0.048          0              0              0              30
  10  CreditCard      -4.826         1.111          4.687          0              90             0              57
  11  RemoteControl   -3.863         1.113          4.391          0              90             0              53
  12  Pillow          -0.952         0.700          2.753          0              0              0              61
  13  Box             -3.052         0.421          4.404          0              180            0              56
  14  Watch           -4.684         1.039          0.504          0              0              0              39
  15  Pillow          -2.031         0.668          4.421          0              0              0              51
  16  TissueBox       -1.367         0.075          0.262          0              0              0              46
  17  Newspaper       -3.864         1.114          4.687          0              90             0              57
  18  CreditCard      -0.870         0.608          1.960          0              0              0              61
  19  KeyChain        -0.623         0.609          2.224          0              0              0              61
  20  CellPhone       -0.362         0.074          0.828          0              270            0              42
  21  Statue          -4.505         1.113          4.490          0              90             0              57
  22  Laptop          -3.393         1.104          4.492          0              191.867        0              57
  23  RemoteControl   -1.117         0.611          3.281          0              0              0              61
  24  Vase            -5.534         1.043          0.306          0              0              0              39
  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 middle door of the large wooden cabinet | STEP 2: Open the middle cabinet door and remove the newspaper sitting on the bottom | STEP 3: Carry the newspaper to the floor lamp to the left of the cabinet | STEP 4: Turn on the lamp | END