Task: Examine a book by the light of 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           -1.0           0.902          0.75           0              0              0
   1  Mug             -0.002         0.671          -2.589         0              0              0              53
   2  Mug             0.427          0.671          -2.608         0              0              0              53
   3  CD              1.633          0.333          -2.036         0              0              0              47
   4  CD              1.726          0.170          -1.551         0              0              0              44
   5  CellPhone       1.726          0.334          -2.211         0              0              0              47
   6  CellPhone       -0.331         0.695          -0.36          0              0              0              28
   7  Pen             0.427          0.679          -2.532         0              0              0              53
   8  Pencil          1.633          0.337          -2.386         0              0              0              47
   9  Pencil          1.658          0.804          -2.407         0              0              0              48
  10  KeyChain        1.680          0.335          -2.124         0              0              0              47
  11  Book            -0.088         0.694          -0.36          0              0              0              28
  12  Pillow          -0.088         0.755          -1.001         0              0              0              28
  13  Book            -1.436         0.671          0.115          0              300.000        0              28
  14  KeyChain        1.680          0.015          -2.473         0              90             0              49
  15  AlarmClock      1.536          0.800          -1.279         0              0              0              48
  16  CreditCard      1.540          0.171          -1.726         0              0              0              44
  17  Laptop          -0.331         0.693          0.281          0              0              0              28
  18  Pen             1.680          0.506          -2.036         0              0              0              50
  19  Pencil          1.680          0.176          -2.124         0              0              0              46
  20  BaseballBat     -1.844         0.678          -2.203         0              0              8.760          Floor|+00.01|
  21  Pillow          -1.489         0.685          -0.854         0              345.000        0              28
  22  Pillow          -0.818         0.755          0.067          0              0              0              28
  23  TennisRacket    -1.597         0.001          -1.367         90             37.792         0              Floor|+00.01|
  24  CellPhone       -1.548         0.695          -0.573         0              0              0              28
  25  CD              1.633          0.499          -2.211         0              0              0              50
  26  Mug             0.318          0.186          -2.564         0              0              0              58
  27  Mirror          3.534          1.661          -0.277         0              90             0
  28  Bed             -0.842         -0.000         -0.361         0              270            0
  29  DeskLamp        1.742          0.819          -1.394         0              358.556        0
  30  Painting        0.246          1.564          -2.665         90             0              0
  31  Painting        1.894          1.549          -2.424         90             270            0
  32  Painting        1.894          1.549          -1.289         90             270            0
  33  GarbageCan      3.378          0.000          0.220          0              0              0
  34  LightSwitch     -0.078         1.219          1.298          0              180            0
  35  Window          -0.486         1.409          -2.691         90             0              0
  36  Window          0.987          1.409          -2.691         90             0              0
  37  VacuumCleaner   -1.649         0.010          -2.440         0              42.426         0
  38  Blinds          -0.490         2.130          -2.638         0              0              0
  39  Blinds          1.011          2.130          -2.638         0              0              0
  40  Drawer          1.596          0.411          -1.459         0              270            0
  41  Drawer          1.597          0.732          -1.459         0              270            0
  42  Drawer          1.597          0.574          -1.459         0              270            0
  43  Drawer          1.597          0.732          -2.202         0              270            0
  44  Drawer          1.596          0.247          -1.459         0              270            0
  45  Drawer          1.596          0.090          -1.459         0              270            0
  46  Drawer          1.596          0.247          -2.202         0              270            0
  47  Drawer          1.596          0.411          -2.202         0              270            0
  48  Dresser         1.634          0.003          -1.830         0              270            0
  49  Drawer          1.596          0.090          -2.202         0              270            0
  50  Drawer          1.597          0.574          -2.202         0              270            0
  51  ShelvingUnit    0.249          0.003          -2.519         0              0              0
  52  Shelf           0.017          0.178          -2.511         0              0              0
  53  Shelf           0.249          0.665          -2.519         0              0              0
  54  Shelf           0.243          0.344          -2.511         0              0              0
  55  Shelf           0.474          0.344          -2.511         0              0              0
  56  Shelf           0.355          0.011          -2.511         0              0              0
  57  Shelf           0.016          0.011          -2.511         0              0              0
  58  Shelf           0.357          0.178          -2.511         0              0              0
  59  NorthWall
  60  EastWall
  61  SouthWall
  62  WestWall

Plan:
STEP 1: Turn to the right and move towards the door then turn right and move to the center of the mat in front of the bed and then turn to the right.  | STEP 2: Pick up the book next to the phone from the bed. | STEP 3: Turn around and move towards the tiled floor and then turn right and face the dresser. | STEP 4: Turn on the lamp on the dresser next to the digital alarm clock. | END