Task: grab the book on the table, turn on the lamp

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.25           0.900          0.0            0              270            0
   1  CD              -0.426         0.900          -1.773         0              0              0              25
   2  CD              -0.948         0.900          -1.680         0              0              0              25
   3  CellPhone       -0.774         0.897          -1.680         0              0              0              25
   4  Pen             2.359          0.528          1.272          0              180            0              37
   5  KeyChain        -1.106         0.651          -1.482         0              0              0              28
   6  KeyChain        0.607          0.941          -1.937         0              0              0              31
   7  Book            -1.031         0.651          -1.431         0              0              0              28
   8  Book            2.329          0.777          -1.056         0              180            0              35
   9  Book            -0.600         0.896          -1.495         0              0              0              25
  10  Pillow          1.506          0.840          -1.354         0              180            0              35
  11  AlarmClock      2.282          0.524          1.151          0              180            0              37
  12  AlarmClock      0.784          0.943          -1.882         0              0              0              31
  13  Laptop          2.329          0.774          -0.757         0              180            0              35
  14  Book            -0.806         0.375          -1.330         0              0              0              26
  15  Pen             1.138          0.947          -1.854         0              0              0              31
  16  AlarmClock      0.430          0.943          -1.91          0              0              0              31
  17  TeddyBear       1.324          0.827          -0.763         56.834         332.692        298.236        42
  18  CellPhone       2.878          0.778          -0.757         0              180            0              42
  19  Pencil          2.514          0.528          1.110          0              180            0              37
  20  Pillow          3.173          0.804          -0.932         0              0              0              42
  21  Laptop          2.054          0.774          -1.354         0              180            0              35
  22  KeyChain        0.961          0.941          -1.965         0              0              0              31
  23  CreditCard      0.253          0.941          -1.993         0              0              0              31
  24  CD              0.961          0.941          -1.882         0              0              0              31
  25  Desk            -0.503         0.006          -1.465         0              0              0
  26  Drawer          -0.945         0.493          -1.176         0              0              0
  27  Drawer          -0.946         0.212          -1.176         0              0              0
  28  Drawer          -0.944         0.739          -1.176         0              0              0
  29  DeskLamp        -0.124         0.899          -1.731         0              0              0
  30  LightSwitch     3.513          1.253          0.165          0              270            0
  31  Shelf           0.759          0.934          -1.909         0              0              0
  32  Mirror          2.407          1.294          1.401          0              0              0
  33  GarbageCan      3.347          -0.000         -0.027         0              270            0
  34  Window          0.717          1.603          -2.108         90             0              0
  35  Bed             2.301          0.005          -1.056         0              270            0
  36  Blinds          0.749          2.523          -2.022         0              0              0
  37  SideTable       2.436          0.002          1.143          0              180            0
  38  Drawer          2.437          0.122          1.154          0              180            0
  39  Drawer          2.437          0.350          1.153          0              180            0
  40  LaundryHamper   0.359          0.006          -1.505         0              280.399        358.305
  41  Chair           -0.308         0.009          -1.108         0              166.824        0
  42
  43  NorthWall
  44  EastWall
  45  SouthWall
  46  WestWall

Plan:
STEP 1: walk to the wall, turn left to the table, | STEP 2: grab the book on the table | STEP 3: turn around, and turn around, walk to the ac, turn right | STEP 4: turn on the lamp on the table | END