Task: Read a book by the light of 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           -0.75          0.900          0.0            0              180            0
   1  Bowl            -0.386         0.863          -2.498         0              0              0              56
   2  Pen             0.355          0.817          -2.507         0              0              0              49
   3  Pencil          0.459          0.815          -2.304         0              0              0              49
   4  Pencil          1.439          0.827          -1.260         0              270            0              47
   5  CreditCard      -0.587         0.861          -2.248         0              0              0              56
   6  CreditCard      -1.232         0.372          -2.401         0              0              0              54
   7  Book            -1.393         0.861          -2.498         0              0              0              56
   8  RemoteControl   -0.990         0.863          -2.561         0              0              0              56
   9  Laptop          0.816          0.772          0.850          0              0              0              27
  10  Book            0.528          0.774          1.819          0              0              0              27
  11  Cloth           1.303          0.0            -0.696         0              303.212        0
  12  Cloth           1.273          0.0            -0.969         0              0              0
  13  CellPhone       0.251          0.812          -2.440         0              0              0              49
  14  Pencil          0.355          0.816          -2.169         0              0              0              49
  15  Laptop          -0.046         0.772          1.496          0              0              0              27
  16  AlarmClock      -0.990         0.862          -2.248         0              0              0              56
  17  CreditCard      -1.319         0.652          -2.363         0              0              0              55
  18  KeyChain        -1.393         0.862          -2.248         0              0              0              56
  19  TennisRacket    -1.704         0.345          1.743          345.000        90             180
  20  RemoteControl   -1.192         0.863          -2.373         0              0              0              56
  21  Pillow          1.073          0.876          1.326          0              262.063        0              27
  22  CD              1.521          0.817          -1.727         0              0              0              47
  23  CD              0.042          0.812          -2.169         0              0              0              49
  24  CD              0.146          0.811          -2.372         0              0              0              49
  25  Pen             -0.061         0.817          -2.304         0              0              0              49
  26  Bowl            -0.674         0.855          -2.499         0              323.153        0              56
  27  Bed             0.270          0.001          1.331          0              90             0
  28  LaundryHamper   -1.329         0.001          1.829          0              180            0
  29  Television      -1.664         1.479          -0.912         0              90             0
  30  DeskLamp        0.049          0.815          -2.481         0              0              0
  31  LightSwitch     -1.799         1.213          0.680          0              90             0
  32  Painting        0.492          1.684          -2.629         90             0              0
  33  Poster          -1.799         1.690          -1.491         90             270            0
  34  GarbageCan      1.306          -0.001         -2.451         0              317.376        0
  35  Mirror          1.5            1.361          -0.542         0              90             0
  36  Window          1.721          1.365          -1.597         90             270            0
  37  Shelf           -1.605         0.435          -0.686         0              90             0
  38  Shelf           -1.613         1.154          -0.904         0              90             0
  39  ShelvingUnit    -1.611         0.005          -0.904         0              90             0
  40  Shelf           -1.605         0.719          -1.122         0              90             0
  41  Shelf           -1.605         0.435          -1.122         0              90             0
  42  Shelf           -1.605         1.006          -1.122         0              90             0
  43  Shelf           -1.605         0.148          -0.686         0              90             0
  44  Shelf           -1.605         0.149          -1.122         0              90             0
  45  Shelf           -1.605         1.006          -0.686         0              90             0
  46  Shelf           -1.605         0.719          -0.686         0              90             0
  47  SideTable       1.484          0.001          -1.481         0              270            0
  48  Blinds          1.699          2.096          -1.575         0              270            0
  49  Desk            0.244          0.004          -2.356         0              0              0
  50  Chair           -0.626         1.439          -2.199         0              171.006        0
  51  Chair           0.220          1.466          -2.214         0              188.269        0
  52  Shelf           -0.978         1.387          -2.479         0              0              0
  53  Drawer          -1.389         0.197          -2.261         0              0              0
  54  Drawer          -1.389         0.480          -2.261         0              0              0
  55  Drawer          -1.389         0.731          -2.261         0              0              0
  56  Desk            -0.973         1.162          -2.351         0              0              0
  57  NorthWall
  58  EastWall
  59  SouthWall
  60  WestWall

Plan:
STEP 1: Head forward to the desk in front you, take a step to the right and continue to face the desk | STEP 2: Pick up the book that is sitting on the desk above the keys | STEP 3: Turn to your left head to the white stand across the room, hang right one you past the desk and stand in front of the table that is sitting to the left of the desk | STEP 4: Turn on the lamp that is sitting on the table. | END