Task: To pick up a book 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           0.5            0.901          -1.25          0              270            0
   1  CreditCard      -1.815         0.675          1.062          0              0              0              36
   2  CreditCard      -1.906         1.071          1.492          0              270            0              35
   3  Book            1.679          0.711          0.990          0              270            0              39
   4  Pillow          -0.583         0.618          -0.830         0              0              0              20
   5  Laptop          1.408          0.709          0.602          0              270            0              39
   6  Book            -1.695         0.640          0.135          0              180            0              36
   7  AlarmClock      1.228          0.711          -0.171         0              270            0              39
   8  BasketBall      1.510          0.120          -0.105         0              0              0
   9  TeddyBear       -1.7           0.475          -0.331         0              225            0              20
  10  TennisRacket    1.551          0.000          0.654          270            336.082        0
  11  Pen             0.930          0.690          -1.663         0              0              0              28
  12  Pencil          -1.628         0.510          1.448          0              270            0              32
  13  KeyChain        -1.749         0.675          0.919          0              0              0              36
  14  CreditCard      1.769          0.711          0.022          0              270            0              39
  15  Laptop          -1.062         0.538          -0.690         0              0              0              20
  16  CellPhone       -1.787         0.507          1.515          0              270            0              32
  17  Pillow          -1.757         0.569          -0.768         0              285.000        0              20
  18  CD              1.716          0.049          1.642          0              270            0              23
  19  Curtains        1.865          2.039          -0.495         0              0              0
  20  Bed             -1.037         0.009          -0.690         0              270            0
  21  Mirror          0.549          1.494          1.880          0              0              0
  22  Curtains        0.486          2.035          -1.853         0              90             0
  23  GarbageCan      1.683          -0.018         1.670          0              270            0
  24  LightSwitch     -0.119         1.317          1.853          0              180            0
  25  DeskLamp        -1.845         1.057          0.756          0              0              0
  26  Window          1.932          1.409          -0.507         90             270            0
  27  Window          0.481          1.411          -1.932         90             0              0
  28  SideTable       0.626          0.0            -1.705         0              0              0
  29  Footstool       0.176          0.006          -0.358         0              0              0
  30  Dumbbell        1.596          0.715          0.772          0              0              0
  31  Dumbbell        1.776          0.717          0.772          0              0              0
  32  Shelf           -1.700         0.573          1.540          0              90             0
  33  Shelf           -1.700         0.156          1.540          0              90             0
  34  Shelf           -1.700         0.377          1.540          0              90             0
  35  Shelf           -1.839         1.084          1.235          0              90             0
  36  Desk            -1.722         0.003          0.920          0              90             0
  37  Footstool       0.175          0.004          -0.652         0              0              0
  38  GarbageBag      1.624          0.319          -1.609         270            90             83.418
  39  Desk            1.519          1.823          0.385          0              270            0
  40  Chair           -1.459         0.003          0.929          0              292.527        0
  41  NorthWall
  42  EastWall
  43  WestWall

Plan:
STEP 1: Walk to the desk on the right side of the bed.  | STEP 2: Pick up the book from the desk.  | STEP 3: Move over to the right to face the lamp on the left side of the other desk.  | STEP 4: Turn on the lamp.  | END