Task: turn on lamp with book in hand

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.25           0.900          0.25           0              90             0
   1  CD              -1.335         0.792          -0.814         0              0              0              42
   2  Pencil          0.459          0.680          -1.732         0              0              0              41
   3  KeyChain        0.368          0.676          -1.684         0              0              0              41
   4  KeyChain        0.133          0.374          1.191          0              90             0              36
   5  Book            1.676          0.578          -0.649         0              0              0              43
   6  AlarmClock      -0.450         0.838          -1.968         0              0              0              25
   7  AlarmClock      -1.265         0.794          -0.385         0              0              0              42
   8  Book            1.098          0.578          -0.649         0              0              0              43
   9  Pencil          -1.265         0.796          -0.600         0              0              0              42
  10  Laptop          -0.670         0.791          -1.568         0              0              0              42
  11  Pen             0.305          0.679          1.393          0              0              0              34
  12  TennisRacket    -1.226         0.301          -0.069         15.000         180            180
  13  TeddyBear       1.629          0.557          -1.064         0              118.287        0              43
  14  Pillow          1.215          0.641          -1.663         0              0              0              21
  15  CellPhone       -1.230         1.824          -1.080         0              0              0              29
  16  KeyChain        1.797          0.039          0.595          0              0              0              38
  17  AlarmClock      -1.194         0.794          -0.814         0              0              0              42
  18  CreditCard      0.537          0.680          1.212          0              0              0              34
  19  CD              0.227          0.680          1.303          0              0              0              34
  20  Bowl            -1.194         0.794          -1.028         0              0              0              42
  21  Bed             1.242          -0.001         -0.881         0              180            0
  22  LightSwitch     0.010          1.315          1.499          0              180            0
  23  GarbageCan      0.840          0.007          1.337          0              180            2.168
  24  HousePlant      -0.083         0.828          -2.045         0              0              0
  25  Shelf           -0.469         0.828          -2.038         0              0              0
  26  Shelf           -1.286         1.451          -1.343         0              0              0
  27  Shelf           -1.286         1.451          -0.602         0              0              0
  28  Shelf           -1.286         1.814          -0.602         0              0              0
  29  Shelf           -1.286         1.814          -1.343         0              0              0
  30  Painting        1.111          1.628          -1.865         90             0              0
  31  DeskLamp        0.473          0.669          1.350          0              0              0
  32  Mirror          -1.383         1.565          0.512          0              270            0
  33  Window          -0.472         1.396          -2.252         90             0              0
  34  SideTable       0.304          -0.001         1.225          0              180            0
  35  Drawer          0.304          0.165          1.159          0              180            0
  36  Drawer          0.304          0.457          1.159          0              180            0
  37  Blinds          -0.453         2.156          -2.242         0              0              0
  38  Safe            1.623          5.960          0.448          0              270            0
  39  Chair           -0.683         0.000          -1.326         0              217.223        0
  40  Drawer          0.416          0.532          -1.553         0              0              0
  41  SideTable       0.413          0.000          -1.684         0              0              0
  42  Desk            -0.788         0.000          -1.032         0              90             0
  43
  44  NorthWall
  45  EastWall
  46  SouthWall
  47  WestWall

Plan:
STEP 1: walk to face bed | STEP 2: pick up book from bed | STEP 3: walk to face table at foot of bed | STEP 4: turn on lamp on table | END