Task: Turn on the lamp on the table.

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            0.901          0.25           0              180            0
   1  Bowl            0.845          0.694          -2.196         0              90             0              38
   2  CD              0.313          0.692          -2.329         0              99.090         0              38
   3  CD              -0.560         0.662          0.600          0              180            0              41
   4  CellPhone       -0.413         0.664          0.600          0              180            0              41
   5  Pen             1.510          0.479          -0.764         0              270            0              37
   6  Pen             -0.561         0.668          0.427          0              180            0              41
   7  CreditCard      -0.577         0.693          -2.316         0              90             0              38
   8  CreditCard      -0.487         0.663          0.470          0              180            0              41
   9  KeyChain        1.519          0.693          -1.916         0              18.354         0              38
  10  KeyChain        -0.670         0.091          0.480          0              90             0              42
  11  Book            -2.221         0.629          -0.748         0              0              0              29
  12  Book            -1.871         0.629          0.076          0              0              0              29
  13  Laptop          -1.696         0.628          -1.297         0              0              0              29
  14  Pillow          -1.871         0.703          -0.198         0              0              0              29
  15  Pillow          -1.346         0.703          -0.473         0              0              0              29
  16  Box             -0.015         0.239          -2.091         0              0              0
  17  Book            -1.871         0.629          -0.748         0              0              0              29
  18  BaseballBat     1.798          0.639          0.425          0              0              342.316
  19  Pen             1.029          0.698          -2.196         0              90             0              38
  20  Pencil          -0.362         0.691          -2.148         0              90             0              38
  21  KeyChain        1.488          0.694          -2.208         0              18.354         0              38
  22  Pillow          -1.694         0.656          0.415          0              0              0              29
  23  CreditCard      -0.708         0.663          0.427          0              180            0              41
  24  CellPhone       0.005          0.693          -1.991         0              99.090         0              38
  25  Laptop          1.641          0.686          -1.011         0              270            0              38
  26  CD              0.265          0.693          -2.177         0              99.090         0              38
  27  Bowl            1.747          0.694          -1.744         0              0              0              38
  28  AlarmClock      0.217          0.694          -2.025         0              99.090         0              38
  29  Bed             -1.696         0.004          -0.446         0              0              0
  30  Chair           0.956          -0.000         -1.747         0              110.225        0
  31  DeskLamp        -0.440         0.688          -2.276         0              0              0
  32  LightSwitch     0.625          1.338          0.734          0              180            0
  33  GarbageCan      1.660          -0.019         -0.389         0              345.008        0
  34  Mirror          1.300          1.422          0.765          0              0              0
  35  HousePlant      -0.867         0.000          -2.286         0              0              0
  36  Window          0.819          1.496          -2.553         90             180            0
  37  Shelf           1.616          0.561          -0.802         0              0              0
  38  Desk            0.617          -0.000         -1.511         0              0              0
  39  Blinds          0.796          2.217          -2.476         0              0              0
  40  Drawer          -0.558         0.456          0.462          0              180            0
  41  SideTable       -0.557         -0.000         0.529          0              180            0
  42  Drawer          -0.558         0.164          0.462          0              180            0
  43  Desktop         1.455          0.692          -1.886         358.180        309.674        0
  44  NorthWall
  45  EastWall
  46  SouthWall
  47  WestWall

Plan:
STEP 1: Turn to the left and move to the bat. | STEP 2: Pick up the bat from the corner | STEP 3: Bring the bat to the lamp on the table. | STEP 4: Turn on the lamp.  | END