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           0.25           0.900          -0.5           0              270            0
   1  CD              -0.078         0.900          -1.310         0              0              0              23
   2  CellPhone       2.514          0.525          1.191          0              180            0              35
   3  Pencil          3.386          0.165          -0.027         0              270            0              31
   4  CreditCard      -0.078         0.895          -1.403         0              0              0              23
   5  KeyChain        1.138          0.941          -1.937         0              0              0              29
   6  Book            -1.122         0.896          -1.495         0              0              0              23
   7  Book            -0.774         0.896          -1.403         0              0              0              23
   8  Book            -0.600         0.901          -1.680         0              0              0              23
   9  Pillow          1.506          0.840          -1.205         0              180            0              33
  10  Laptop          2.329          0.774          -1.205         0              180            0              33
  11  Laptop          2.329          0.774          -0.757         0              180            0              33
  12  Book            -0.426         0.901          -1.310         0              0              0              23
  13  Pen             -0.806         0.380          -1.330         0              0              0              24
  14  AlarmClock      2.359          0.526          1.151          0              180            0              35
  15  TeddyBear       1.324          0.827          -0.763         56.834         332.692        298.236        40
  16  CellPhone       2.205          0.526          1.191          0              180            0              35
  17  Pencil          -0.948         0.904          -1.773         0              0              0              23
  18  Pillow          3.173          0.804          -0.932         0              0              0              40
  19  Laptop          2.878          0.774          -1.354         0              180            0              40
  20  KeyChain        0.253          0.941          -1.882         0              0              0              29
  21  CreditCard      2.282          0.524          1.312          0              180            0              35
  22  CD              0.784          0.941          -1.882         0              0              0              29
  23  Desk            -0.503         0.006          -1.465         0              0              0
  24  Drawer          -0.945         0.493          -1.176         0              0              0
  25  Drawer          -0.946         0.212          -1.176         0              0              0
  26  Drawer          -0.944         0.739          -1.176         0              0              0
  27  DeskLamp        -0.124         0.899          -1.731         0              0              0
  28  LightSwitch     3.513          1.253          0.165          0              270            0
  29  Shelf           0.759          0.934          -1.909         0              0              0
  30  Mirror          2.407          1.294          1.401          0              0              0
  31  GarbageCan      3.347          -0.000         -0.027         0              270            0
  32  Window          0.717          1.603          -2.108         90             0              0
  33  Bed             2.301          0.005          -1.056         0              270            0
  34  Blinds          0.749          2.523          -2.022         0              0              0
  35  SideTable       2.436          0.002          1.143          0              180            0
  36  Drawer          2.437          0.122          1.154          0              180            0
  37  Drawer          2.437          0.350          1.153          0              180            0
  38  LaundryHamper   0.359          0.006          -1.505         0              280.399        358.305
  39  Chair           -0.308         0.009          -1.108         0              166.824        0
  40
  41  NorthWall
  42  EastWall
  43  SouthWall
  44  WestWall

Plan:
STEP 1: turn to the left and face the desk | STEP 2: pick up the blue book that is second from the right on the desk | STEP 3: walk around the desk and face it from the left side | STEP 4: turn on the table lamp on the desk | END