Task: Turn on a lamp with a cup 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           0.5            0.900          0.0            0              90             0
   1  Bowl            2.384          0.898          -3.044         0              0              0              39
   2  CD              -2.405         0.082          -3.264         0              270            0              42
   3  CD              2.638          1.228          1.168          0              270            0              46
   4  CellPhone       2.713          0.647          1.679          0              270            0              47
   5  CellPhone       2.410          0.346          -0.519         0              0              0              34
   6  Pen             -2.575         0.686          -0.668         0              270            0              48
   7  Pen             2.732          1.234          1.511          0              270            0              46
   8  Pencil          2.638          1.232          1.397          0              270            0              46
   9  CreditCard      -2.620         0.680          -0.436         0              90             0              48
  10  CreditCard      -2.394         0.680          -0.668         0              90             0              48
  11  Laptop          2.188          0.352          -0.296         0              0              0              34
  12  Book            1.858          0.360          -3.139         0              90             0              36
  13  CreditCard      1.867          0.896          -2.975         0              0              0              39
  14  Pen             2.713          0.100          1.342          0              270            0              43
  15  Pencil          1.344          0.024          -3.342         0              0              0              30
  16  TeddyBear       -0.667         0.612          -1.364         0              81.467         0              26
  17  Laptop          -2.440         0.617          -1.861         0              0              0              26
  18  AlarmClock      -2.394         0.684          -3.304         0              90             0              41
  19  CellPhone       2.706          1.249          1.737          0              0              0              35
  20  KeyChain        1.867          0.896          -3.044         0              270            0              39
  21  Pillow          -1.308         0.680          -2.061         0              0              0              26
  22  Pillow          -1.874         0.680          -2.261         0              0              0              26
  23  CD              1.694          0.896          -2.975         0              0              0              39
  24  Mug             1.694          0.894          -3.251         0              0              0              39
  25  Bowl            2.728          0.898          -3.113         0              0              0              39
  26  Bed             -1.613         -0.028         -1.861         0              270            0
  27  DeskLamp        2.760          0.890          -3.317         0              90             0
  28  DeskLamp        -2.459         0.668          -0.532         0              90             0
  29  LightSwitch     -0.700         1.016          0.334          0              90             0
  30  GarbageCan      1.343          1.087          -3.374         0              0              0
  31  Mirror          0.532          1.419          2.0            0              0              0
  32  Window          -0.834         1.394          -3.653         90             0              0
  33  Window          2.958          1.508          -1.019         90             270            0
  34  Sofa            2.383          0.008          -0.288         0              270            0
  35  Safe            2.721          1.228          1.784          0              270            0
  36  Drawer          1.979          0.486          -2.988         0              0              0
  37  Drawer          1.979          0.728          -2.988         0              0              0
  38  Drawer          1.979          0.208          -2.988         0              0              0
  39  Desk            2.318          -0.009         -3.214         0              0              0
  40  Drawer          -2.349         0.163          -3.150         0              90             0
  41  SideTable       -2.416         -0.001         -3.149         0              90             0
  42  Drawer          -2.349         0.455          -3.150         0              90             0
  43  Drawer          2.641          0.172          1.511          0              270            0
  44  Drawer          2.641          1.002          1.511          0              270            0
  45  Drawer          2.641          0.448          1.511          0              270            0
  46  Dresser         2.676          0.002          1.511          0              270            0
  47  Drawer          2.641          0.725          1.511          0              270            0
  48  SideTable       -2.416         -0.001         -0.514         0              90             0
  49  Drawer          -2.349         0.163          -0.514         0              90             0
  50  Drawer          -2.349         0.455          -0.514         0              90             0
  51  Blinds          -0.800         2.087          -3.627         0              0              0
  52  Blinds          2.931          2.166          -1.0           0              270            0
  53  Chair           2.574          0.002          -2.881         0              175.162        0
  54  NorthWall
  55  EastWall
  56  SouthWall
  57  WestWall

Plan:
STEP 1: Turn right, walk straight to the wall, when you reach the wall, turn left, walk straight to the desk. | STEP 2: Pick up the cup on top of the desk. | STEP 3: Turn left, walk straight, make a quick turn right, walk to the wall, turn right to face the desk. | STEP 4: Turn on the lamp on the desk. | END