Task: Turn on a lamp while holding a vase

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -5.25          0.901          3.75           0              180            0
   1  TissueBox       -5.534         1.040          0.239          0              0              0              37
   2  Vase            -3.570         0.207          4.331          0              90             0              53
   3  Vase            -4.673         0.207          4.459          0              90             0              58
   4  Watch           -4.184         1.111          4.588          0              90             0              55
   5  KeyChain        -2.298         0.034          0.369          0              90             0              38
   6  CreditCard      -0.870         0.622          2.753          0              0              0              59
   7  CreditCard      -4.826         1.107          4.885          0              90             0              55
   8  Box             -0.324         1.813          1.006          0              270            0              43
   9  Box             -4.223         0.421          4.404          0              180            0              52
  10  Laptop          -3.863         1.105          4.589          0              90             0              55
  11  Box             -4.505         1.332          4.490          0              270            0              55
  12  Watch           -0.411         0.074          1.285          0              270            0              40
  13  Pillow          -2.031         0.668          4.421          0              0              0              49
  14  TissueBox       -4.184         1.112          4.687          0              90             0              55
  15  Newspaper       -2.901         1.114          4.786          0              90             0              55
  16  CreditCard      -4.625         0.997          4.313          0              90             0              55
  17  KeyChain        -2.191         0.034          0.317          0              90             0              38
  18  CellPhone       -2.404         0.034          0.265          0              90             0              38
  19  Statue          -3.543         1.113          4.589          0              90             0              55
  20  Laptop          -1.584         0.588          4.384          0              0              0              49
  21  RemoteControl   -4.826         1.110          4.588          0              90             0              55
  22  Vase            -3.222         1.111          4.391          0              90             0              55
  23  DeskLamp        -4.649         1.051          0.268          0              0              0
  24  DeskLamp        -2.992         1.107          4.522          0              0              0
  25  FloorLamp       -0.650         0.007          4.431          0              0              0
  26  FloorLamp       -5.607         0.007          4.641          0              0              0
  27  Shelf           -5.237         1.776          0.070          0              0              0
  28  Shelf           -5.238         1.968          0.085          0              0              0
  29  Shelf           -5.242         1.391          0.086          0              0              0
  30  Shelf           -5.241         1.582          0.065          0              0              0
  31  LightSwitch     -6.002         1.353          3.404          0              90             0
  32  GarbageCan      -5.794         -0.033         4.073          0              90             0
  33  Painting        -6.017         1.802          4.177          90             270            0
  34  HousePlant      -3.966         1.625          0.135          0              315            0
  35  Television      -3.355         0.833          0.027          0              0              0
  36  Drawer          -5.024         0.903          0.370          0              0              0
  37  SideTable       -5.024         0.008          0.267          0              0              0
  38  Safe            -2.298         5.778          0.268          0              90             0
  39  Shelf           -0.253         0.781          1.058          0              270            0
  40  Shelf           -0.283         0.274          1.066          0              270            0
  41  Shelf           -1.224         1.288          0.270          0              0              0
  42  Shelf           -1.218         1.810          0.275          0              0              0
  43  Shelf           -0.280         1.810          1.057          0              270            0
  44  Shelf           -1.218         0.274          0.262          0              0              0
  45  Shelf           -1.223         0.782          0.237          0              0              0
  46  Shelf           -0.280         1.288          1.055          0              270            0
  47  ShelvingUnit    -0.268         0.004          1.067          0              270            0
  48  ShelvingUnit    -1.218         0.004          0.244          0              0              0
  49  ArmChair        -2.027         0.001          4.422          0              178.692        0
  50  Drawer          -4.329         1.014          4.311          0              180            0
  51  Drawer          -3.750         1.014          4.311          0              180            0
  52  Cabinet         -4.049         0.561          4.212          0              180            0
  53  Cabinet         -4.032         0.561          4.212          0              180            0
  54  Cabinet         -2.884         0.561          4.212          0              180            0
  55  Dresser         -4.041         -0.000         4.589          0              180            0
  56  Drawer          -4.916         1.014          4.311          0              180            0
  57  Drawer          -3.166         1.014          4.311          0              180            0
  58  Cabinet         -5.196         0.561          4.212          0              180            0
  59  Sofa            -0.705         -0.002         2.753          0              270            0
  60  NorthWall
  61  SouthWall
  62  SouthWall

Plan:
STEP 1: Move to the middle wood cupboard of the wood table | STEP 2: Open the middle cupboard, remove the gold vase in the cupboard, shut the cupboard | STEP 3: Carry the gold vase to the floor lamp on the left  | STEP 4: Turn on the lamp | END