Task: Carry 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          0.901          1.25           0              180            0
   1  CD              1.536          0.040          -1.977         0              88.075         0              45
   2  KeyChain        0.213          0.411          -1.600         0              270            0              41
   3  KeyChain        2.068          0.573          1.457          0              270            0              30
   4  Book            0.649          0.417          0.585          0              0              0              42
   5  Book            0.897          0.417          -0.247         0              0              0              42
   6  Box             -1.751         0.252          1.499          0              340.773        0              Floor|+00.00|
   7  Book            -0.487         0.412          -1.600         0              270            0              35
   8  Cloth           -1.146         0.000          -2.123         0              0              0              Floor|+00.00|
   9  CellPhone       1.639          0.043          -1.869         0              88.075         0              45
  10  Pencil          0.402          0.974          -1.631         0              270            0              32
  11  AlarmClock      -0.602         0.972          -1.631         0              270            0              32
  12  TeddyBear       -2.236         0.000          1.457          0              319.128        0              Floor|+00.00|
  13  CreditCard      2.298          0.570          1.185          0              180            0              30
  14  KeyChain        1.698          0.041          -2.024         0              88.075         0              45
  15  Pillow          2.11           0.422          0.331          0              270            0              42
  16  Pillow          2.15           0.433          -0.241         0              282.078        0              42
  17  Laptop          1.392          0.413          0.419          0              0              0              42
  18  Bowl            -0.401         0.972          -1.705         0              270            0              32
  19  Cloth           -1.288         0.000          -1.936         0              357.341        356.936        Floor|+00.00|
  20  CD              0.201          0.971          -1.778         0              270            0              32
  21  Pen             0.604          0.977          -1.631         0              0              0              32
  22  DeskLamp        2.302          0.561          1.435          0              315            0
  23  GarbageCan      -2.208         -0.023         -1.742         0              77.663         0
  24  Poster          2.439          1.508          0.014          90             270            0
  25  LightSwitch     -2.457         1.274          -0.096         0              90             0
  26  Mirror          2.454          1.322          -1.414         0              90             0
  27  Window          -1.440         1.815          -2.354         90             0              0
  28  Window          1.401          1.815          -2.354         90             0              0
  29  Drawer          2.251          0.468          1.333          0              270            0
  30  SideTable       2.243          -0.001         1.331          0              270            0
  31  Drawer          -0.385         0.681          -1.631         0              0              0
  32  Dresser         0.011          0.001          -1.676         0              0              0
  33  Drawer          -0.385         0.105          -1.631         0              0              0
  34  Drawer          0.408          0.868          -1.632         0              0              0
  35  Drawer          -0.385         0.487          -1.631         0              0              0
  36  Drawer          -0.385         0.868          -1.632         0              0              0
  37  Drawer          0.408          0.681          -1.631         0              0              0
  38  Drawer          0.408          0.105          -1.631         0              0              0
  39  Drawer          0.408          0.292          -1.631         0              0              0
  40  Drawer          -0.385         0.292          -1.631         0              0              0
  41  Drawer          0.408          0.487          -1.631         0              0              0
  42  Bed             1.377          0.004          0.072          0              90             0
  43  Blinds          1.422          3.115          -2.339         0              0              0
  44  Blinds          -1.422         3.115          -2.339         0              0              0
  45  Safe            1.640          0.000          -2.040         0              355.244        0
  46  LaundryHamper   -1.564         0.001          -1.927         0              45             0
  47  NorthWall
  48  EastWall
  49  SouthWall
  50  WestWall

Plan:
STEP 1: Move to the left side of the bed where the book is sitting on the bed | STEP 2: Pick up the blue book that is on top of the bed | STEP 3: Carry the book to the night stand where the lamp is | STEP 4: Turn on the lamp | END