Task: get a stamp and turn on 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           1.25           0.900          1.5            0              90             0
   1  CD              -0.194         0.667          -0.469         0              0              0              41
   2  CD              -0.131         0.924          -0.391         0              0              0              40
   3  CellPhone       -0.414         0.927          -0.177         0              0              0              40
   4  Pen             -0.509         0.930          -1.245         0              0              0              40
   5  Pencil          2.253          0.053          2.634          0              0              0              31
   6  Pencil          2.095          0.846          -0.484         0              0              0              35
   7  CreditCard      2.285          0.842          -0.615         0              0              0              35
   8  CreditCard      2.285          0.842          -0.352         0              0              0              35
   9  KeyChain        -0.509         0.925          -0.391         0              0              0              40
  10  Book            2.170          0.098          -0.679         0              90             0              34
  11  AlarmClock      -0.603         0.925          -1.245         0              0              0              40
  12  AlarmClock      -0.509         0.925          -1.459         0              0              0              40
  13  Box             2.15           0.14           0.494          0              12.243         0
  14  Book            2.285          0.844          -0.877         0              0              0              35
  15  BasketBall      -0.235         0.120          0.166          0              0              0
  16  Pen             -0.320         0.930          -1.459         0              0              0              40
  17  Pillow          -0.148         0.617          1.848          0              0              0              25
  18  Pencil          2.225          0.053          2.551          0              0              0              31
  19  CellPhone       2.190          0.844          -0.221         0              0              0              35
  20  KeyChain        2.238          0.843          -0.746         0              90             0              35
  21  CreditCard      2.095          0.842          -0.352         0              0              0              35
  22  AlarmClock      -0.414         0.925          -0.391         0              0              0              40
  23  CD              2.170          0.096          -0.288         0              0              0              34
  24  Laptop          -0.428         0.919          -0.901         0              20.959         0              40
  25  Bed             0.009          -0.004         1.577          0              0              0
  26  DeskLamp        -0.669         0.923          -0.062         0              90             0
  27  Painting        -0.787         1.809          -0.215         90             270            0
  28  Painting        -0.787         1.809          1.023          90             270            0
  29  Mirror          2.118          1.277          2.749          0              0              0
  30  LightSwitch     0.726          1.200          2.75           0              180            0
  31  GarbageCan      2.257          -0.008         2.603          353.970        0              0
  32  Window          0.665          1.356          -1.911         90             0              0
  33  Drawer          2.119          0.576          -0.491         4.458          270            0
  34  Drawer          2.147          0.213          -0.491         4.458          270            0
  35  SideTable       2.226          0.013          -0.492         4.458          270            0
  36  Chair           0.170          0.011          -1.214         0              261.719        0
  37  Blinds          0.695          1.983          -1.867         0              0              0
  38  Drawer          -0.079         0.513          -0.394         0              90             0
  39  Drawer          -0.079         0.226          -0.394         0              90             0
  40  Desk            -0.391         0.001          -0.811         0              90             0
  41  Drawer          -0.079         0.762          -0.394         0              90             0
  42  NorthWall
  43  EastWall
  44  SouthWall
  45  WestWall

Plan:
STEP 1: go the left side of the desk | STEP 2: pick up the stamp | STEP 3: go the right side of the desk | STEP 4: turn on the lamp on the desk | END