Task: Look at a book under the light of a desk 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          0.901          0.5            0              270            0
   1  Mug             -0.543         0.976          -1.603         0              0              0              51
   2  Mug             -0.480         0.667          3.249          0              90             0              46
   3  CD              -0.745         0.065          2.163          0              0              0              35
   4  CD              1.715          0.105          -0.316         0              90             0              57
   5  CellPhone       -0.574         0.671          2.902          0              90             0              46
   6  CellPhone       -0.480         0.671          3.162          0              90             0              46
   7  Pencil          1.807          0.730          -0.256         0              270            0              60
   8  CreditCard      1.841          0.437          1.326          0              180            0              63
   9  KeyChain        1.841          0.433          1.697          0              180            0              63
  10  KeyChain        1.672          0.452          1.605          0              180            0              63
  11  Book            -0.600         0.069          2.235          0              0              0              35
  12  Book            -0.632         1.841          2.197          0              0              0              55
  13  AlarmClock      -0.692         0.678          1.431          0              90             0              36
  14  Book            -0.855         0.672          3.075          0              90             0              46
  15  Box             -0.493         0.2            -0.286         0              84.024         0
  16  TennisRacket    -1.345         0.288          0.233          30.000         270            180
  17  Pen             1.555          0.528          -0.778         0              90             0              58
  18  AlarmClock      -0.761         0.669          2.815          0              90             0              46
  19  Pillow          -0.63          1.871          3.047          0              0              0              55
  20  Pillow          -0.632         1.922          1.631          0              0              0              55
  21  CellPhone       -0.949         0.671          2.728          0              90             0              46
  22  KeyChain        -0.872         0.677          1.804          0              90             0              36
  23  CreditCard      1.502          0.106          -0.916         0              90             0              56
  24  CD              -0.667         0.668          3.249          0              90             0              46
  25  Pencil          -0.423         0.681          1.431          0              90             0              36
  26  Laptop          1.612          0.724          0.236          0              270            0              60
  27  Mug             -0.584         0.976          -1.134         0              0              0              51
  28  DeskLamp        2.016          0.701          0.708          0              0              0
  29  Painting        2.199          1.771          -0.101         90             270            0
  30  GarbageCan      2.022          -0.037         -1.239         0              270            0
  31  Mirror          2.229          1.254          2.664          0              90             0
  32  LightSwitch     2.199          1.258          1.988          0              270            0
  33  Window          1.575          1.559          -1.953         90             180            0
  34  Drawer          -0.551         0.578          2.246          0              90             0
  35  Cabinet         -0.649         0.270          2.247          0              90             0
  36  Desk            -0.655         0.006          1.814          0              90             0
  37  Shelf           1.769          0.184          0.757          0              270            0
  38  Shelf           1.769          0.572          0.757          0              270            0
  39  Shelf           1.769          0.572          0.935          0              270            0
  40  Shelf           1.769          0.378          0.935          0              270            0
  41  Shelf           1.769          0.378          0.757          0              270            0
  42  Shelf           1.769          0.184          0.935          0              270            0
  43  Blinds          1.547          2.434          -1.886         0              0              0
  44  Drawer          -0.553         0.155          2.942          0              90             0
  45  Drawer          -0.553         0.572          2.942          0              90             0
  46  Dresser         -0.665         0.001          2.939          0              90             0
  47  Drawer          -0.553         0.376          2.942          0              90             0
  48  Chair           1.482          0.012          0.223          0              77.085         0
  49  Chair           -0.199         0.012          1.538          0              287.086        0
  50  Bed             -0.866         0.007          -0.919         0              0              0
  51  Dresser         -0.772         0.001          -1.313         0              90             0
  52  Drawer          -0.660         0.830          -1.309         0              90             0
  53  Drawer          -0.660         0.225          -1.309         0              90             0
  54  Drawer          -0.660         0.547          -1.309         0              90             0
  55  Bed             -0.872         1.637          2.188          0              0              0
  56  Drawer          1.685          0.160          -0.805         0              270            0
  57  Drawer          1.685          0.160          -0.378         0              270            0
  58  Drawer          1.685          0.547          -0.805         0              270            0
  59  Drawer          1.685          0.547          -0.378         0              270            0
  60  Desk            1.812          0.003          -0.014         0              270            0
  61  Drawer          1.685          0.354          -0.805         0              270            0
  62  Drawer          1.685          0.354          -0.378         0              270            0
  63  ArmChair        1.712          -0.000         1.532          0              270            0
  64  NorthWall
  65  EastWall
  66  SouthWall
  67  WestWall

Plan:
STEP 1: Turn to the right. | STEP 2: Pick up the book on the counter. | STEP 3: Turn right and walk to the desk. | STEP 4: Turn on the desk light. | END