Task: Pick up a cup and turn on the lamp.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           1.75           0.900          1.0            0              270            0
   1  Mug             2.591          0.793          -1.217         0              180            0              56
   2  TissueBox       -1.294         0.677          -0.543         0              0              0              50
   3  Watch           -1.264         0.106          -0.881         0              0              0              49
   4  CD              2.839          0.039          0.218          0              270            0              34
   5  CellPhone       -0.806         0.566          0.113          0              0              0              32
   6  CellPhone       -0.462         0.566          0.602          0              0              0              32
   7  Pen             -1.422         1.240          -0.649         0              90             0              51
   8  CreditCard      2.706          1.278          -1.387         0              0              0              42
   9  CreditCard      1.559          0.349          -1.246         0              0              0              64
  10  KeyChain        -1.266         0.968          -0.615         0              0              0              55
  11  KeyChain        -1.213         1.233          -0.936         0              90             0              51
  12  Laptop          -0.806         0.561          0.602          0              0              0              32
  13  Book            -0.902         0.574          1.179          0              332.922        0              32
  14  Box             2.734          0.195          0.89           0              0              0
  15  Laptop          -0.5           0.56           0.286          0              63.464         0              32
  16  CellPhone       -1.151         0.566          0.113          0              0              0              32
  17  BaseballBat     2.847          0.643          1.838          0              0              335.111
  18  BasketBall      1.019          0.330          -0.977         346.775        295.617        1.021
  19  TissueBox       1.665          0.570          -1.218         0              0              0              60
  20  CreditCard      2.411          1.278          -1.402         0              0              0              41
  21  AlarmClock      -1.269         1.227          -0.473         0              228.191        0              51
  22  Pencil          2.587          1.048          -1.368         0              0              0              40
  23  Boots           -1.279         0.000          -1.343         0              27.143         0
  24  Pillow          -0.634         0.63           1.611          0              0              0              32
  25  KeyChain        -1.318         1.235          -0.745         0              0              0              51
  26  Bowl            2.451          0.788          -1.207         0              0              0              56
  27  Watch           -1.352         1.233          -0.553         0              0              0              51
  28  CD              -1.318         1.233          -0.649         0              0              0              51
  29  Pen             1.839          0.801          -1.153         0              0              0              56
  30  Mug             2.821          0.788          -1.223         0              0              0              56
  31  Statue          2.215          0.805          -1.217         0              0              0              56
  32  Bed             -0.640         0.008          0.871          0              0              0
  33  DeskLamp        -1.319         1.238          -0.994         0              90             0
  34  GarbageCan      2.838          0.007          0.215          0              270            0
  35  Blinds          0.111          2.337          -1.436         0              0              0
  36  Mirror          1.985          1.381          1.875          0              0              0
  37  Window          0.118          1.496          -1.588         90             180            0
  38  LightSwitch     2.654          1.276          1.899          0              180            0
  39  Chair           2.457          0.011          -0.997         0              189.124        0
  40  Shelf           2.476          0.919          -1.384         0              0              0
  41  Shelf           2.251          1.503          -1.383         0              0              0
  42  Shelf           2.700          1.510          -1.380         0              0              0
  43  Shelf           2.476          1.153          -1.384         0              0              0
  44  Shelf           1.803          1.386          -1.384         0              0              0
  45  Shelf           1.803          0.919          -1.381         0              0              0
  46  DogBed          0.920          0.013          -1.044         0              0              0
  47  Drawer          -1.305         0.454          -0.918         0              90             0
  48  Drawer          -1.305         0.752          -0.919         0              90             0
  49  Drawer          -1.305         0.178          -0.918         0              90             0
  50  Drawer          -1.305         0.752          -0.579         0              90             0
  51  Dresser         -1.328         0.011          -0.744         0              90             0
  52  Drawer          -1.306         1.031          -0.579         0              90             0
  53  Drawer          -1.305         0.454          -0.578         0              90             0
  54  Drawer          -1.305         0.178          -0.578         0              90             0
  55  Drawer          -1.305         1.031          -0.919         0              90             0
  56  Desk            2.211          0.009          -1.259         0              0              0
  57  Drawer          2.817          0.189          -1.176         0              0              0
  58  Drawer          1.940          0.632          -1.176         0              0              0
  59  Drawer          1.940          0.189          -1.176         0              0              0
  60  Drawer          1.623          0.632          -1.176         0              0              0
  61  Drawer          2.817          0.632          -1.176         0              0              0
  62  Drawer          2.817          0.411          -1.176         0              0              0
  63  Drawer          1.623          0.189          -1.176         0              0              0
  64  Drawer          1.623          0.410          -1.176         0              0              0
  65  Drawer          1.940          0.410          -1.176         0              0              0
  66  NorthWall
  67  EastWall
  68  SouthWall
  69  WestWall

Plan:
STEP 1: Turn left then walk towards the desk. | STEP 2: Pick up the white cup closest to the wall. | STEP 3: Turn right then walk towards the dresser. | STEP 4: Turn on the lamp on top of the dresser. | END