Task: Pick up a book and turn 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           -0.75          0.900          -0.5           0              180            0
   1  CD              -0.774         0.895          -1.217         0              0              0              21
   2  CD              3.361          0.161          -0.028         0              270            0              29
   3  Pen             -0.774         0.906          -1.773         0              0              0              21
   4  CreditCard      0.961          0.941          -1.91          0              0              0              27
   5  Book            -0.426         0.896          -1.680         0              0              0              21
   6  Pillow          2.054          0.840          -0.906         0              180            0              31
   7  AlarmClock      0.253          0.943          -1.937         0              0              0              27
   8  AlarmClock      2.591          0.526          1.191          0              180            0              33
   9  Laptop          1.506          0.774          -1.205         0              180            0              38
  10  Book            2.878          0.777          -1.354         0              180            0              31
  11  Pen             -0.600         0.901          -1.680         0              0              0              21
  12  AlarmClock      -0.600         0.902          -1.310         0              0              0              21
  13  TeddyBear       1.324          0.827          -0.763         56.834         332.692        298.236        38
  14  CellPhone       3.152          0.778          -1.354         0              180            0              31
  15  Pencil          -0.774         0.904          -1.680         0              270            0              21
  16  Pillow          2.054          0.840          -1.354         0              180            0              38
  17  Laptop          2.603          0.774          -0.757         0              180            0              31
  18  KeyChain        2.514          0.525          1.312          0              180            0              33
  19  CreditCard      -0.806         0.651          -1.279         0              0              0              24
  20  CD              -0.078         0.900          -1.310         0              0              0              21
  21  Desk            -0.503         0.006          -1.465         0              0              0
  22  Drawer          -0.945         0.493          -1.176         0              0              0
  23  Drawer          -0.946         0.212          -1.176         0              0              0
  24  Drawer          -0.944         0.739          -1.176         0              0              0
  25  DeskLamp        -0.124         0.899          -1.731         0              0              0
  26  LightSwitch     3.513          1.253          0.165          0              270            0
  27  Shelf           0.759          0.934          -1.909         0              0              0
  28  Mirror          2.407          1.294          1.401          0              0              0
  29  GarbageCan      3.347          -0.000         -0.027         0              270            0
  30  Window          0.717          1.603          -2.108         90             0              0
  31  Bed             2.301          0.005          -1.056         0              270            0
  32  Blinds          0.749          2.523          -2.022         0              0              0
  33  SideTable       2.436          0.002          1.143          0              180            0
  34  Drawer          2.437          0.122          1.154          0              180            0
  35  Drawer          2.437          0.350          1.153          0              180            0
  36  LaundryHamper   0.359          0.006          -1.505         0              280.399        358.305
  37  Chair           -0.308         0.009          -1.108         0              166.824        0
  38
  39  NorthWall
  40  EastWall
  41  SouthWall
  42  WestWall

Plan:
STEP 1: Move forward towards the desk in front of you. | STEP 2: Pick the blue book up from the desk. | STEP 3: Turn and go to the left side of the desk and stand facing the lamp. | STEP 4: Turn the lamp on. | END