Task: Turn on the lamp in the bedroom.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           2.25           0.900          1.25           0              180            0
   1  CD              1.371          0.019          -3.407         0              0              0              29
   2  CellPhone       -0.742         0.619          -2.261         0              0              0              25
   3  CellPhone       -1.874         0.619          -1.262         0              0              0              25
   4  Pencil          2.211          0.901          -2.975         0              0              0              38
   5  Pencil          -2.575         0.685          -3.149         0              90             0              40
   6  CreditCard      -2.452         0.082          -0.399         0              270            0              48
   7  KeyChain        2.747          0.645          1.426          0              0              0              46
   8  KeyChain        2.039          0.896          -3.389         0              0              0              38
   9  Book            2.188          0.353          -0.296         0              0              0              33
  10  Laptop          -1.025         0.617          -2.261         0              0              0              25
  11  Book            -1.591         0.618          -1.262         0              0              0              25
  12  CreditCard      1.694          0.896          -3.251         0              0              0              38
  13  Pen             -2.620         0.686          -3.304         0              90             0              40
  14  Pencil          2.384          0.901          -3.389         0              0              0              38
  15  TeddyBear       -0.667         0.612          -1.364         0              81.467         0              25
  16  Laptop          -1.874         0.617          -2.061         0              0              0              25
  17  AlarmClock      2.556          0.900          -3.182         0              0              0              38
  18  CellPhone       2.336          0.307          -0.742         0              0              0              33
  19  KeyChain        2.685          1.228          1.626          0              270            0              34
  20  Pillow          -2.124         0.658          -1.522         0              28.296         0              25
  21  Pillow          -2.378         0.637          -2.330         0              0              0              25
  22  CD              -2.439         0.680          -3.382         0              90             0              40
  23  Mug             2.384          0.894          -3.044         0              0              0              38
  24  Bowl            1.840          0.889          -3.239         0              0              0              38
  25  Bed             -1.613         -0.028         -1.861         0              270            0
  26  DeskLamp        2.760          0.890          -3.317         0              90             0
  27  DeskLamp        -2.459         0.668          -0.532         0              90             0
  28  LightSwitch     -0.700         1.016          0.334          0              90             0
  29  GarbageCan      1.343          1.087          -3.374         0              0              0
  30  Mirror          0.532          1.419          2.0            0              0              0
  31  Window          -0.834         1.394          -3.653         90             0              0
  32  Window          2.958          1.508          -1.019         90             270            0
  33  Sofa            2.383          0.008          -0.288         0              270            0
  34  Safe            2.721          1.228          1.784          0              270            0
  35  Drawer          1.979          0.486          -2.988         0              0              0
  36  Drawer          1.979          0.728          -2.988         0              0              0
  37  Drawer          1.979          0.208          -2.988         0              0              0
  38  Desk            2.318          -0.009         -3.214         0              0              0
  39  Drawer          -2.349         0.163          -3.150         0              90             0
  40  SideTable       -2.416         -0.001         -3.149         0              90             0
  41  Drawer          -2.349         0.455          -3.150         0              90             0
  42  Drawer          2.641          0.172          1.511          0              270            0
  43  Drawer          2.641          1.002          1.511          0              270            0
  44  Drawer          2.641          0.448          1.511          0              270            0
  45  Dresser         2.676          0.002          1.511          0              270            0
  46  Drawer          2.641          0.725          1.511          0              270            0
  47  SideTable       -2.416         -0.001         -0.514         0              90             0
  48  Drawer          -2.349         0.163          -0.514         0              90             0
  49  Drawer          -2.349         0.455          -0.514         0              90             0
  50  Blinds          -0.800         2.087          -3.627         0              0              0
  51  Blinds          2.931          2.166          -1.0           0              270            0
  52  Chair           2.574          0.002          -2.881         0              175.162        0
  53  NorthWall
  54  EastWall
  55  SouthWall
  56  WestWall

Plan:
STEP 1: Turn to your right and walk to the door across from you, then turn to your left and walk across the room, make a right and walk past the bed to the night stand. | STEP 2: Pick up the CD in the front, left corner of the night stand.  | STEP 3: Turn around and walk to the end of the bed, then turn left and walk to the end of the foot of the bed, then turn right and go to the night stand to the right of the bed.  | STEP 4: Turn on the lamp in the center of the night stand.  | END