Task: Look at a book under 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            0.900          0.25           0              270            0
   1  Mug             3.210          0.543          -1.464         0              0              0              38
   2  Mug             1.471          0.515          -1.752         0              90             0              41
   3  TissueBox       2.307          0.800          -1.728         0              0              0              39
   4  CellPhone       2.108          0.798          -1.420         0              0              0              39
   5  CellPhone       -0.260         0.570          -0.459         0              0              0              26
   6  Pen             2.506          0.804          -1.728         0              0              0              39
   7  Pencil          1.317          0.521          -1.752         0              0              0              41
   8  CreditCard      1.909          0.798          -1.358         0              0              0              39
   9  KeyChain        2.875          0.547          -1.464         0              180            0              38
  10  KeyChain        2.307          0.799          -1.420         0              0              0              39
  11  Pillow          0.227          0.674          -1.129         0              0              0              26
  12  Book            -0.260         0.569          -1.352         0              0              0              26
  13  KeyChain        2.705          0.799          -1.543         0              0              0              39
  14  TissueBox       2.904          0.800          -1.728         0              0              0              39
  15  TeddyBear       -0.075         0.562          -0.274         353.177        297.143        5.348          26
  16  Pencil          2.904          0.803          -1.605         0              0              0              39
  17  CreditCard      1.471          0.517          -1.631         0              0              0              41
  18  TennisRacket    -0.921         0.344          0.390          13.911         273.938        195.992        Floor|+00.39|
  19  Laptop          0.390          0.568          -0.236         0              0              0              26
  20  AlarmClock      1.108          0.510          -1.673         0              345.197        0              41
  21  Pen             1.836          0.796          -1.667         0              0              0              39
  22  Pillow          0.299          0.643          -1.557         0              0              0              26
  23  CellPhone       -0.260         0.570          -1.129         0              0              0              26
  24  CD              1.127          0.058          -1.635         0              180            0              42
  25  Mug             3.043          0.543          -1.419         0              0              0              38
  26  Bed             0.227          -0.003         -0.947         0              180            0
  27  Mirror          0.615          1.264          1.029          0              0              0
  28  GarbageCan      3.166          -0.011         -0.264         4.636          271.335        0
  29  DeskLamp        3.164          0.794          -1.664         0              315            0
  30  HousePlant      -0.833         0.000          0.843          0              0              0
  31  LightSwitch     2.010          1.126          1.029          0              180            0
  32  Window          1.794          1.677          -1.939         90             180            0
  33  Window          0.691          1.361          -1.938         90             180            0
  34  Dumbbell        2.628          0.001          -1.613         0              346.954        0
  35  Blinds          1.776          1.993          -1.858         0              0              0
  36  Blinds          0.670          1.993          -1.858         0              0              0
  37  Chair           2.255          0.004          -1.501         0              167.716        0
  38  Shelf           3.034          0.637          -1.580         0              0              0
  39  Desk            2.500          0.002          -1.596         0              0              0
  40  Drawer          1.240          0.354          -1.553         0              0              0
  41  SideTable       1.239          0.003          -1.551         0              0              0
  42  Drawer          1.240          0.126          -1.553         0              0              0
  43  NorthWall
  44  EastWall
  45  SouthWall
  46  WestWall

Plan:
STEP 1: turn left and walk to the nightstand. turn right towards the bed | STEP 2: pick up the book from the bed | STEP 3: turn around and walk to the wall. turn right and face the desk | STEP 4: turn on the light | END