Task: Get book from bed walk to table and turn on lamp on table.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           2.75           0.902          -0.25          0              180            0
   1  Mug             1.536          0.799          -2.219         0              0              0              42
   2  CD              1.726          0.333          -2.211         0              0              0              41
   3  CD              1.726          0.170          -2.473         0              0              0              40
   4  CreditCard      1.658          0.799          -1.279         0              0              0              42
   5  KeyChain        1.633          0.657          -1.949         0              0              0              37
   6  KeyChain        1.536          0.803          -2.407         0              90             0              42
   7  Book            -1.436         0.671          0.115          0              300.000        0              22
   8  KeyChain        1.726          0.335          -1.202         0              0              0              34
   9  AlarmClock      0.069          0.665          -2.578         0              0              0              47
  10  CreditCard      1.680          0.500          -1.464         0              0              0              36
  11  Laptop          1.663          0.794          -1.842         0              287.390        0              42
  12  Pen             1.680          0.020          -1.638         0              0              0              39
  13  Pencil          1.536          0.805          -1.655         0              0              0              42
  14  BaseballBat     -1.844         0.678          -2.203         0              0              8.760          Floor|+00.01|
  15  Pillow          -0.331         0.755          -0.787         0              0              0              22
  16  Pillow          -1.508         0.685          -0.378         0              288.596        0              22
  17  TennisRacket    -1.597         0.001          -1.367         90             37.792         0              Floor|+00.01|
  18  CellPhone       1.633          0.172          -2.298         0              0              0              40
  19  CD              1.726          0.014          -1.289         0              0              0              39
  20  Mug             1.597          0.799          -1.467         0              0              0              42
  21  Mirror          3.534          1.661          -0.277         0              90             0
  22  Bed             -0.842         -0.000         -0.361         0              270            0
  23  DeskLamp        1.742          0.819          -1.394         0              358.556        0
  24  Painting        0.246          1.564          -2.665         90             0              0
  25  Painting        1.894          1.549          -2.424         90             270            0
  26  Painting        1.894          1.549          -1.289         90             270            0
  27  GarbageCan      3.378          0.000          0.220          0              0              0
  28  LightSwitch     -0.078         1.219          1.298          0              180            0
  29  Window          -0.486         1.409          -2.691         90             0              0
  30  Window          0.987          1.409          -2.691         90             0              0
  31  VacuumCleaner   -1.649         0.010          -2.440         0              42.426         0
  32  Blinds          -0.490         2.130          -2.638         0              0              0
  33  Blinds          1.011          2.130          -2.638         0              0              0
  34  Drawer          1.596          0.411          -1.459         0              270            0
  35  Drawer          1.597          0.732          -1.459         0              270            0
  36  Drawer          1.597          0.574          -1.459         0              270            0
  37  Drawer          1.597          0.732          -2.202         0              270            0
  38  Drawer          1.596          0.247          -1.459         0              270            0
  39  Drawer          1.596          0.090          -1.459         0              270            0
  40  Drawer          1.596          0.247          -2.202         0              270            0
  41  Drawer          1.596          0.411          -2.202         0              270            0
  42  Dresser         1.634          0.003          -1.830         0              270            0
  43  Drawer          1.596          0.090          -2.202         0              270            0
  44  Drawer          1.597          0.574          -2.202         0              270            0
  45  ShelvingUnit    0.249          0.003          -2.519         0              0              0
  46  Shelf           0.017          0.178          -2.511         0              0              0
  47  Shelf           0.249          0.665          -2.519         0              0              0
  48  Shelf           0.243          0.344          -2.511         0              0              0
  49  Shelf           0.474          0.344          -2.511         0              0              0
  50  Shelf           0.355          0.011          -2.511         0              0              0
  51  Shelf           0.016          0.011          -2.511         0              0              0
  52  Shelf           0.357          0.178          -2.511         0              0              0
  53  NorthWall
  54  EastWall
  55  SouthWall
  56  WestWall

Plan:
STEP 1: Stands and turns right at the white door. | STEP 2: Walks towards bed in middle of room and turns right and walks to corner of room and turns left. | STEP 3: Goes to right side of bed, turns left looks down on bed spread. Picks up Homer Odyssey book. | STEP 4: Turns left with book walks to end of bed turns left turns right goes straight for table. Turns on lamp on top of table with book. | END