Task: Pick up book and turn on lamp.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.5           0.901          -1.25          0              0              0
   1  CellPhone       -1.171         0.631          -0.748         0              0              0              21
   2  Pen             -0.413         0.668          0.600          0              180            0              33
   3  Pen             -0.487         0.668          0.427          0              180            0              33
   4  Pencil          1.370          0.697          -2.169         0              18.354         0              30
   5  Pencil          1.684          0.696          -1.241         0              0              0              30
   6  KeyChain        -0.708         0.663          0.556          0              270            0              33
   7  AlarmClock      1.492          0.475          -0.764         0              270            0              29
   8  Box             -0.015         0.239          -2.091         0              0              0
   9  Book            0.452          0.686          -2.242         0              165.000        0              30
  10  BaseballBat     1.798          0.639          0.425          0              0              342.316
  11  Pen             1.456          0.479          -0.862         0              270            0              29
  12  Pencil          -0.561         0.094          0.503          0              0              0              34
  13  KeyChain        -0.634         0.663          0.513          0              180            0              33
  14  Pillow          -2.046         0.703          -1.297         0              0              0              21
  15  CreditCard      1.609          0.692          -1.845         0              18.354         0              30
  16  CellPhone       1.520          0.693          -1.715         0              18.354         0              30
  17  Laptop          -1.871         0.628          0.351          0              0              0              21
  18  CD              0.253          0.692          -2.247         0              99.090         0              30
  19  Bowl            -0.362         0.694          -2.064         0              90             0              30
  20  AlarmClock      1.622          0.695          -1.409         0              0              0              30
  21  Bed             -1.696         0.004          -0.446         0              0              0
  22  Chair           0.956          -0.000         -1.747         0              110.225        0
  23  DeskLamp        -0.440         0.688          -2.276         0              0              0
  24  LightSwitch     0.625          1.338          0.734          0              180            0
  25  GarbageCan      1.660          -0.019         -0.389         0              345.008        0
  26  Mirror          1.300          1.422          0.765          0              0              0
  27  HousePlant      -0.867         0.000          -2.286         0              0              0
  28  Window          0.819          1.496          -2.553         90             180            0
  29  Shelf           1.616          0.561          -0.802         0              0              0
  30  Desk            0.617          -0.000         -1.511         0              0              0
  31  Blinds          0.796          2.217          -2.476         0              0              0
  32  Drawer          -0.558         0.456          0.462          0              180            0
  33  SideTable       -0.557         -0.000         0.529          0              180            0
  34  Drawer          -0.558         0.164          0.462          0              180            0
  35  Desktop         1.455          0.692          -1.886         358.180        309.674        0
  36  NorthWall
  37  EastWall
  38  SouthWall
  39  WestWall

Plan:
STEP 1: Turn around, proceed to desk. | STEP 2: Pick up book, located next to cd. | STEP 3: Turn right, proceed forward.  When reach end of desk, turn right to face desk. | STEP 4: Turn on lamp on the back of the desk. | END