Task: pick up a book on the bed and view it in the lamp light

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          -1.0           0              90             0
   1  CellPhone       -1.541         0.541          -0.690         0              0              0              24
   2  CellPhone       -1.563         0.642          0.370          0              180            0              40
   3  Pen             -1.683         0.681          1.493          0              0              0              40
   4  Pen             -1.828         0.646          0.370          0              180            0              40
   5  KeyChain        -1.828         0.641          0.135          0              180            0              40
   6  Book            -1.541         0.540          -0.971         0              0              0              24
   7  Laptop          -0.344         0.538          -0.971         0              0              0              24
   8  AlarmClock      1.318          0.711          0.215          0              270            0              43
   9  AlarmClock      1.589          0.711          0.409          0              270            0              43
  10  Book            -1.787         0.065          1.448          0              270            0              37
  11  AlarmClock      -1.845         1.071          1.351          0              270            0              39
  12  BasketBall      1.510          0.120          -0.105         0              0              0
  13  TeddyBear       -1.7           0.475          -0.331         0              225            0              24
  14  TennisRacket    1.551          0.000          0.654          270            336.082        0
  15  Pen             -1.840         0.512          1.381          0              270            0              36
  16  Pencil          -1.575         0.290          1.515          0              270            0              38
  17  KeyChain        -1.787         0.287          1.581          0              270            0              38
  18  CreditCard      0.647          0.684          -1.831         0              0              0              32
  19  Laptop          -1.062         0.538          -0.690         0              0              0              24
  20  CellPhone       1.679          0.712          -0.171         0              270            0              43
  21  Pillow          -0.344         0.618          -0.549         0              0              0              24
  22  CD              -1.787         0.506          1.581          0              270            0              36
  23  Curtains        1.865          2.039          -0.495         0              0              0
  24  Bed             -1.037         0.009          -0.690         0              270            0
  25  Mirror          0.549          1.494          1.880          0              0              0
  26  Curtains        0.486          2.035          -1.853         0              90             0
  27  GarbageCan      1.683          -0.018         1.670          0              270            0
  28  LightSwitch     -0.119         1.317          1.853          0              180            0
  29  DeskLamp        -1.845         1.057          0.756          0              0              0
  30  Window          1.932          1.409          -0.507         90             270            0
  31  Window          0.481          1.411          -1.932         90             0              0
  32  SideTable       0.626          0.0            -1.705         0              0              0
  33  Footstool       0.176          0.006          -0.358         0              0              0
  34  Dumbbell        1.596          0.715          0.772          0              0              0
  35  Dumbbell        1.776          0.717          0.772          0              0              0
  36  Shelf           -1.700         0.573          1.540          0              90             0
  37  Shelf           -1.700         0.156          1.540          0              90             0
  38  Shelf           -1.700         0.377          1.540          0              90             0
  39  Shelf           -1.839         1.084          1.235          0              90             0
  40  Desk            -1.722         0.003          0.920          0              90             0
  41  Footstool       0.175          0.004          -0.652         0              0              0
  42  GarbageBag      1.624          0.319          -1.609         270            90             83.418
  43  Desk            1.519          1.823          0.385          0              270            0
  44  Chair           -1.459         0.003          0.929          0              292.527        0
  45  NorthWall
  46  EastWall
  47  WestWall

Plan:
STEP 1: turn left and walk straight then turn left towards the bed then turn right and walk straight then turn left and walk towards the table and turn left towards the bed | STEP 2: pick up the book off of the bed | STEP 3: turn around and walk straight then turn left towards the desk | STEP 4: turn the lamp light on | END