Task: Carry a book to 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           -0.25          0.900          -0.5           0              270            0
   1  CellPhone       -0.061         0.811          -2.236         0              0              0              51
   2  CellPhone       -0.333         0.774          1.496          0              0              0              29
   3  Pen             -1.406         0.658          -2.287         0              0              0              57
   4  CreditCard      -1.187         1.362          -2.435         0              0              0              54
   5  KeyChain        1.439          0.824          -1.467         0              270            0              49
   6  KeyChain        -0.789         0.862          -2.248         0              0              0              58
   7  Book            0.816          0.774          1.819          0              0              0              29
   8  Book            -0.621         0.774          0.850          0              0              0              29
   9  Book            0.816          0.774          0.850          0              0              0              29
  10  Laptop          0.241          0.772          1.657          0              0              0              29
  11  AlarmClock      0.459          0.812          -2.372         0              0              0              51
  12  Book            0.241          0.774          0.850          0              0              0              29
  13  Cloth           1.303          0.0            -0.696         0              303.212        0
  14  Cloth           1.273          0.0            -0.969         0              0              0
  15  CellPhone       -1.192         0.861          -2.311         0              0              0              58
  16  Pencil          1.411          0.827          -1.363         0              270            0              49
  17  Laptop          -0.621         0.772          1.335          0              0              0              29
  18  AlarmClock      -1.393         0.862          -2.436         0              0              0              58
  19  CreditCard      0.459          0.811          -2.575         0              0              0              51
  20  KeyChain        0.251          0.812          -2.372         0              0              0              51
  21  TennisRacket    -1.704         0.345          1.743          345.000        90             180
  22  RemoteControl   -1.393         0.863          -2.311         0              0              0              58
  23  Pillow          1.073          0.876          1.326          0              262.063        0              29
  24  CD              1.521          0.817          -1.727         0              0              0              49
  25  CD              0.527          0.806          -2.485         0              0              0              51
  26  CD              1.342          0.151          -2.452         0              315            0              36
  27  Pen             1.439          0.829          -1.570         0              90             0              49
  28  Bowl            -0.674         0.855          -2.499         0              323.153        0              58
  29  Bed             0.270          0.001          1.331          0              90             0
  30  LaundryHamper   -1.329         0.001          1.829          0              180            0
  31  Television      -1.664         1.479          -0.912         0              90             0
  32  DeskLamp        0.049          0.815          -2.481         0              0              0
  33  LightSwitch     -1.799         1.213          0.680          0              90             0
  34  Painting        0.492          1.684          -2.629         90             0              0
  35  Poster          -1.799         1.690          -1.491         90             270            0
  36  GarbageCan      1.306          -0.001         -2.451         0              317.376        0
  37  Mirror          1.5            1.361          -0.542         0              90             0
  38  Window          1.721          1.365          -1.597         90             270            0
  39  Shelf           -1.605         0.435          -0.686         0              90             0
  40  Shelf           -1.613         1.154          -0.904         0              90             0
  41  ShelvingUnit    -1.611         0.005          -0.904         0              90             0
  42  Shelf           -1.605         0.719          -1.122         0              90             0
  43  Shelf           -1.605         0.435          -1.122         0              90             0
  44  Shelf           -1.605         1.006          -1.122         0              90             0
  45  Shelf           -1.605         0.148          -0.686         0              90             0
  46  Shelf           -1.605         0.149          -1.122         0              90             0
  47  Shelf           -1.605         1.006          -0.686         0              90             0
  48  Shelf           -1.605         0.719          -0.686         0              90             0
  49  SideTable       1.484          0.001          -1.481         0              270            0
  50  Blinds          1.699          2.096          -1.575         0              270            0
  51  Desk            0.244          0.004          -2.356         0              0              0
  52  Chair           -0.626         1.439          -2.199         0              171.006        0
  53  Chair           0.220          1.466          -2.214         0              188.269        0
  54  Shelf           -0.978         1.387          -2.479         0              0              0
  55  Drawer          -1.389         0.197          -2.261         0              0              0
  56  Drawer          -1.389         0.480          -2.261         0              0              0
  57  Drawer          -1.389         0.731          -2.261         0              0              0
  58  Desk            -0.973         1.162          -2.351         0              0              0
  59  NorthWall
  60  EastWall
  61  SouthWall
  62  WestWall

Plan:
STEP 1: Move to the middle of the bed facing the middle book | STEP 2: Pick up the book in the middle of the bed | STEP 3: Carry the book to the lamp on top of the small desk | STEP 4: Turn on the lamp | END