Task: Examine the mug by the light

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.5           0.909          -2.5           0              90             0
   1  CD              -0.249         0.799          -4.029         0              0              0              43
   2  CD              -3.470         0.418          -4.255         0              0              0              49
   3  CellPhone       -3.191         0.620          -1.793         0              0              0              28
   4  Pen             -3.613         0.986          -3.070         0              0              0              46
   5  Pen             -3.760         0.986          -4.075         0              0              0              46
   6  Pencil          -1.850         0.065          -3.901         0              279.990        0              32
   7  Pencil          -3.760         0.983          -3.874         0              0              0              46
   8  CreditCard      -1.270         0.803          -3.811         0              0              0              43
   9  KeyChain        -3.467         0.045          -3.977         0              0              0              51
  10  KeyChain        -0.578         0.190          -3.779         0              0              0              38
  11  Book            -3.613         0.981          -4.276         0              0              0              46
  12  Book            -3.687         0.980          -3.673         0              0              0              46
  13  Pillow          -2.981         0.722          -2.080         0              0              0              28
  14  AlarmClock      -1.474         0.800          -3.920         0              0              0              43
  15  Book            -3.834         0.980          -3.271         0              0              0              46
  16  CellPhone       -0.453         0.803          -4.029         0              0              0              43
  17  Laptop          -3.402         0.618          -1.218         0              0              0              28
  18  CreditCard      -3.580         0.045          -3.465         0              0              0              45
  19  AlarmClock      -0.329         0.542          -3.713         0              0              0              43
  20  KeyChain        -1.474         0.804          -4.137         0              0              0              43
  21  TeddyBear       -2.567         0.575          -0.386         357.948        14.682         7.781          28
  22  BaseballBat     -1.155         0.033          -3.997         90             59.999         0              Floor|-01.88|
  23  Pencil          -3.834         0.984          -3.673         0              0              0              46
  24  Pillow          -3.335         0.681          -0.415         0              0              0              28
  25  CD              -3.908         0.980          -3.472         0              0              0              46
  26  Pen             -1.066         0.809          -3.811         0              0              0              43
  27  Mug             -0.862         0.801          -3.811         0              0              0              43
  28  Bed             -2.980         0.009          -1.177         0              0              0
  29  LightSwitch     -1.620         1.351          0.0            0              180            0
  30  DeskLamp        -1.529         0.790          -4.298         0              0              0
  31  Mirror          -0.002         1.251          -2.592         0              90             0
  32  GarbageCan      -1.843         -0.017         -3.897         0              279.992        0
  33  Window          0.209          1.180          -1.504         90             270            0
  34  Drawer          -0.503         0.067          -4.188         0              180            0
  35  Drawer          -0.502         0.226          -3.799         0              0              0
  36  Drawer          -0.502         0.385          -3.799         0              0              0
  37  CoffeeTable     -0.503         0.009          -3.990         0              0              0
  38  Drawer          -0.502         0.067          -3.799         0              0              0
  39  Blinds          0.163          2.196          -1.495         0              270            0
  40  TableTopDecor   -3.586         0.996          -3.055         0              180            0
  41  Drawer          -0.503         0.385          -4.188         0              180            0
  42  Drawer          -0.503         0.226          -4.188         0              180            0
  43  Desk            -0.862         0.006          -4.028         0              0              0
  44  Drawer          -3.609         0.876          -4.055         0              90             0
  45  Drawer          -3.608         0.112          -3.261         0              90             0
  46  Dresser         -3.653         0.008          -3.658         0              90             0
  47  Drawer          -3.609         0.688          -3.261         0              90             0
  48  Drawer          -3.609         0.300          -3.261         0              90             0
  49  Drawer          -3.609         0.494          -4.055         0              90             0
  50  Drawer          -3.609         0.300          -4.055         0              90             0
  51  Drawer          -3.608         0.112          -4.055         0              90             0
  52  Drawer          -3.609         0.688          -4.055         0              90             0
  53  Drawer          -3.609         0.876          -3.261         0              90             0
  54  Drawer          -3.609         0.494          -3.261         0              90             0
  55  NorthWall
  56  EastWall
  57  SouthWall
  58  WestWall

Plan:
STEP 1: Turn to your right and face the table  | STEP 2: Pick up the mug on the table | STEP 3: Turn right then walk forward, turn left face the lamp | STEP 4: Turn on the lamp | END