Task: Move a book 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           -1.25          0.900          -0.75          0              180            0
   1  Pen             -1.594         0.867          -2.436         0              0              0              54
   2  Pencil          0.459          0.815          -2.169         0              0              0              47
   3  Pencil          -1.232         0.656          -2.363         0              0              0              53
   4  KeyChain        -1.232         0.372          -2.211         0              270            0              52
   5  Laptop          0.528          0.772          1.496          0              0              0              25
   6  AlarmClock      0.042          0.813          -2.169         0              0              0              47
   7  AlarmClock      0.355          0.813          -2.440         0              0              0              47
   8  Book            -0.621         0.774          0.850          0              0              0              25
   9  Cloth           1.303          0.0            -0.696         0              303.212        0
  10  Cloth           1.273          0.0            -0.969         0              0              0
  11  CellPhone       -1.406         0.371          -2.287         0              0              0              52
  12  Pencil          -1.319         0.091          -2.325         0              0              0              51
  13  Laptop          -0.046         0.772          1.819          0              0              0              25
  14  AlarmClock      -0.587         0.862          -2.248         0              0              0              54
  15  CreditCard      -0.990         0.862          -2.311         0              0              0              54
  16  KeyChain        1.494          0.824          -1.363         0              270            0              45
  17  TennisRacket    -1.704         0.345          1.743          345.000        90             180
  18  RemoteControl   -1.580         0.373          -2.325         0              0              0              52
  19  Pillow          1.073          0.876          1.326          0              262.063        0              25
  20  CD              -1.192         0.861          -2.436         0              0              0              54
  21  CD              -1.145         0.371          -2.363         0              0              0              52
  22  CD              1.313          0.151          -2.510         0              315            0              32
  23  Pen             -0.061         0.818          -2.372         0              0              0              47
  24  Bowl            -0.990         0.863          -2.436         0              0              0              54
  25  Bed             0.270          0.001          1.331          0              90             0
  26  LaundryHamper   -1.329         0.001          1.829          0              180            0
  27  Television      -1.664         1.479          -0.912         0              90             0
  28  DeskLamp        0.049          0.815          -2.481         0              0              0
  29  LightSwitch     -1.799         1.213          0.680          0              90             0
  30  Painting        0.492          1.684          -2.629         90             0              0
  31  Poster          -1.799         1.690          -1.491         90             270            0
  32  GarbageCan      1.306          -0.001         -2.451         0              317.376        0
  33  Mirror          1.5            1.361          -0.542         0              90             0
  34  Window          1.721          1.365          -1.597         90             270            0
  35  Shelf           -1.605         0.435          -0.686         0              90             0
  36  Shelf           -1.613         1.154          -0.904         0              90             0
  37  ShelvingUnit    -1.611         0.005          -0.904         0              90             0
  38  Shelf           -1.605         0.719          -1.122         0              90             0
  39  Shelf           -1.605         0.435          -1.122         0              90             0
  40  Shelf           -1.605         1.006          -1.122         0              90             0
  41  Shelf           -1.605         0.148          -0.686         0              90             0
  42  Shelf           -1.605         0.149          -1.122         0              90             0
  43  Shelf           -1.605         1.006          -0.686         0              90             0
  44  Shelf           -1.605         0.719          -0.686         0              90             0
  45  SideTable       1.484          0.001          -1.481         0              270            0
  46  Blinds          1.699          2.096          -1.575         0              270            0
  47  Desk            0.244          0.004          -2.356         0              0              0
  48  Chair           -0.626         1.439          -2.199         0              171.006        0
  49  Chair           0.220          1.466          -2.214         0              188.269        0
  50  Shelf           -0.978         1.387          -2.479         0              0              0
  51  Drawer          -1.389         0.197          -2.261         0              0              0
  52  Drawer          -1.389         0.480          -2.261         0              0              0
  53  Drawer          -1.389         0.731          -2.261         0              0              0
  54  Desk            -0.973         1.162          -2.351         0              0              0
  55  NorthWall
  56  EastWall
  57  SouthWall
  58  WestWall

Plan:
STEP 1: Move to the left side of the end of the bed | STEP 2: Pick up the book on the edge of the bed | STEP 3: Carry the book to the small desk top where the lamp is | STEP 4: Turn on the lamp | END