Task: grab the book from the dresser, turn on the lamp on the table

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -2.5           0.909          -3.75          0              90             0
   1  CD              -3.834         0.979          -3.673         0              0              0              42
   2  CellPhone       -0.249         0.803          -4.137         0              0              0              39
   3  Pen             -0.685         0.548          -3.713         0              0              0              33
   4  Pen             -1.066         0.805          -3.703         0              0              0              39
   5  Pencil          -3.539         0.983          -4.276         0              0              0              42
   6  CreditCard      -0.774         0.542          -3.676         0              0              0              33
   7  CreditCard      -0.774         0.542          -3.749         0              0              0              33
   8  Book            -3.613         0.620          -2.080         0              0              0              24
   9  Book            -3.613         0.980          -3.673         0              0              0              42
  10  Book            -1.474         0.800          -3.811         0              0              0              39
  11  Book            -3.638         0.419          -3.092         0              0              0              50
  12  CellPhone       -3.524         0.809          -3.977         0              0              0              40
  13  Laptop          -1.169         0.796          -4.096         0              27.912         0              39
  14  CreditCard      -1.474         0.803          -4.029         0              0              0              39
  15  AlarmClock      -0.453         0.800          -4.029         0              0              0              39
  16  KeyChain        -0.240         0.543          -3.749         0              90             0              33
  17  TeddyBear       -2.567         0.575          -0.386         357.948        14.682         7.781          24
  18  BaseballBat     -1.155         0.033          -3.997         90             59.999         0              Floor|-01.88|
  19  Pencil          -3.693         0.048          -3.091         0              0              0              41
  20  Pillow          -3.191         0.722          -1.793         0              0              0              24
  21  CD              -0.329         0.542          -3.713         0              0              0              33
  22  Pen             -3.613         0.986          -4.075         0              0              0              42
  23  Mug             -3.613         0.979          -3.271         0              0              0              42
  24  Bed             -2.980         0.009          -1.177         0              0              0
  25  LightSwitch     -1.620         1.351          0.0            0              180            0
  26  DeskLamp        -1.529         0.790          -4.298         0              0              0
  27  Mirror          -0.002         1.251          -2.592         0              90             0
  28  GarbageCan      -1.843         -0.017         -3.897         0              279.992        0
  29  Window          0.209          1.180          -1.504         90             270            0
  30  Drawer          -0.503         0.067          -4.188         0              180            0
  31  Drawer          -0.502         0.226          -3.799         0              0              0
  32  Drawer          -0.502         0.385          -3.799         0              0              0
  33  CoffeeTable     -0.503         0.009          -3.990         0              0              0
  34  Drawer          -0.502         0.067          -3.799         0              0              0
  35  Blinds          0.163          2.196          -1.495         0              270            0
  36  TableTopDecor   -3.586         0.996          -3.055         0              180            0
  37  Drawer          -0.503         0.385          -4.188         0              180            0
  38  Drawer          -0.503         0.226          -4.188         0              180            0
  39  Desk            -0.862         0.006          -4.028         0              0              0
  40  Drawer          -3.609         0.876          -4.055         0              90             0
  41  Drawer          -3.608         0.112          -3.261         0              90             0
  42  Dresser         -3.653         0.008          -3.658         0              90             0
  43  Drawer          -3.609         0.688          -3.261         0              90             0
  44  Drawer          -3.609         0.300          -3.261         0              90             0
  45  Drawer          -3.609         0.494          -4.055         0              90             0
  46  Drawer          -3.609         0.300          -4.055         0              90             0
  47  Drawer          -3.608         0.112          -4.055         0              90             0
  48  Drawer          -3.609         0.688          -4.055         0              90             0
  49  Drawer          -3.609         0.876          -3.261         0              90             0
  50  Drawer          -3.609         0.494          -3.261         0              90             0
  51  NorthWall
  52  EastWall
  53  SouthWall
  54  WestWall

Plan:
STEP 1: turn around to the dresser | STEP 2: grab the book on the dresser | STEP 3: turn around to the white table | STEP 4: turn on the lamp on the table | END