Task: Pick up a book 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           1.0            0.900          0.5            0              90             0
   1  CellPhone       1.296          0.059          -1.614         0              180            0              41
   2  Pen             1.239          0.523          -1.752         0              0              0              40
   3  Pencil          1.909          0.803          -1.543         0              0              0              38
   4  Pencil          2.108          0.803          -1.543         0              0              0              38
   5  CreditCard      2.705          0.798          -1.605         0              0              0              38
   6  CreditCard      2.705          0.798          -1.482         0              0              0              38
   7  KeyChain        2.931          0.547          -1.464         0              0              0              37
   8  KeyChain        3.103          0.799          -1.358         0              0              0              38
   9  Book            1.085          0.515          -1.672         0              0              0              40
  10  Book            0.715          0.569          -1.352         0              0              0              25
  11  Book            0.390          0.569          -0.459         0              0              0              25
  12  KeyChain        1.409          0.284          -1.593         0              0              0              39
  13  TissueBox       3.067          0.536          -1.421         0              0              0              37
  14  TeddyBear       -0.075         0.562          -0.274         353.177        297.143        5.348          25
  15  Pencil          3.188          0.083          -0.268         0              270            0              27
  16  CreditCard      2.875          0.545          -1.397         0              0              0              37
  17  TennisRacket    -0.921         0.344          0.390          13.911         273.938        195.992        Floor|+00.39|
  18  Laptop          0.227          0.568          -0.905         0              0              0              25
  19  AlarmClock      2.506          0.798          -1.543         0              0              0              38
  20  Pen             2.904          0.804          -1.482         0              0              0              38
  21  Pillow          0.299          0.643          -1.557         0              0              0              25
  22  CellPhone       -0.097         0.570          -1.352         0              0              0              25
  23  CD              1.183          0.058          -1.593         0              180            0              41
  24  Mug             1.909          0.796          -1.358         0              0              0              38
  25  Bed             0.227          -0.003         -0.947         0              180            0
  26  Mirror          0.615          1.264          1.029          0              0              0
  27  GarbageCan      3.166          -0.011         -0.264         4.636          271.335        0
  28  DeskLamp        3.164          0.794          -1.664         0              315            0
  29  HousePlant      -0.833         0.000          0.843          0              0              0
  30  LightSwitch     2.010          1.126          1.029          0              180            0
  31  Window          1.794          1.677          -1.939         90             180            0
  32  Window          0.691          1.361          -1.938         90             180            0
  33  Dumbbell        2.628          0.001          -1.613         0              346.954        0
  34  Blinds          1.776          1.993          -1.858         0              0              0
  35  Blinds          0.670          1.993          -1.858         0              0              0
  36  Chair           2.255          0.004          -1.501         0              167.716        0
  37  Shelf           3.034          0.637          -1.580         0              0              0
  38  Desk            2.500          0.002          -1.596         0              0              0
  39  Drawer          1.240          0.354          -1.553         0              0              0
  40  SideTable       1.239          0.003          -1.551         0              0              0
  41  Drawer          1.240          0.126          -1.553         0              0              0
  42  NorthWall
  43  EastWall
  44  SouthWall
  45  WestWall

Plan:
STEP 1: Go right and then right again to face the bed. | STEP 2: Pick the book up from the edge of the bed. | STEP 3: Turn around and then turn right again to face the lamp on the desk. | STEP 4: Turn on the lamp. | END