Task: Examine a book by the light of 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           -3.25          0.937          1.25           0              180            0
   1  CD              -0.289         1.115          -2.817         0              0              0              33
   2  CD              -3.363         0.373          -2.818         0              4.809          0              35
   3  CellPhone       1.668          0.097          -2.945         0              90             0              51
   4  Pen             -1.337         0.590          -2.934         0              0              0              29
   5  Book            1.609          0.552          2.342          0              90             0              53
   6  Book            0.821          0.077          -2.909         0              0              0              30
   7  KeyChain        1.775          0.095          -3.049         0              90             0              51
   8  RemoteControl   -0.187         0.085          -2.830         0              0              0              32
   9  AlarmClock      -0.914         1.118          -3.158         0              0              0              33
  10  Laptop          1.243          0.830          0.735          0              0              0              26
  11  Laptop          0.958          0.830          1.456          0              0              0              26
  12  Book            -2.805         0.082          -3.055         0              0              0              27
  13  AlarmClock      -2.164         1.118          -3.073         0              0              0              33
  14  CellPhone       -1.084         0.194          3.387          0              175.771        0              45
  15  Pillow          0.389          0.940          0.015          0              0              0              26
  16  Pillow          1.815          0.87           1.153          0              270            0              26
  17  TeddyBear       1.868          0.036          -0.561         0              59.999         0              Floor|-00.06|
  18  CreditCard      -0.602         1.116          -3.073         0              0              0              33
  19  KeyChain        -0.187         0.583          -3.038         0              90             0              28
  20  Pencil          -1.227         1.119          -3.243         0              0              0              33
  21  Laptop          -1.901         1.104          -2.965         0              0              0              33
  22  RemoteControl   -1.337         0.087          -2.830         0              0              0              31
  23  CD              -3.289         0.190          3.077          0              149.999        0              52
  24  Pen             -1.539         1.121          -3.158         0              0              0              33
  25  Mug             0.326          0.075          -3.077         0              0              0              30
  26  Bed             0.967          0.049          0.667          0              90             0
  27  Cabinet         -3.0           1.497          -2.643         0              0              0
  28  Drawer          -0.365         0.785          -2.848         0              0              0
  29  Drawer          -1.159         0.785          -2.848         0              0              0
  30  Cabinet         2.064          1.497          -2.643         0              0              0
  31  Drawer          -1.159         0.285          -2.848         0              0              0
  32  Drawer          -0.365         0.285          -2.848         0              0              0
  33  Desk            -1.271         1.169          -2.987         0              0              0
  34  LightSwitch     -0.159         1.281          3.999          0              180            0
  35  GarbageCan      -3.338         0.022          -2.797         0              4.809          0
  36  HousePlant      -0.195         1.105          -3.084         0              0              0
  37  DeskLamp        1.863          0.581          2.431          0              0              0
  38  Mirror          -1.603         1.447          3.999          0              0              0
  39  Television      -3.883         1.771          2.122          0              90             0
  40  Window          -1.952         2.148          -3.302         90             180            0
  41  Window          -0.467         2.148          -3.302         90             180            0
  42  Window          -3.894         1.751          0.582          90             270            0
  43  Window          -3.894         1.751          -0.675         90             270            0
  44  LaundryHamper   1.831          0.058          3.689          0              354.434        1.354
  45  ArmChair        -0.948         0.051          3.583          0              175.988        0
  46  ArmChair        -2.172         0.051          3.598          0              180            0
  47  Blinds          -0.477         2.785          -3.253         0              0              0
  48  Blinds          -1.957         2.785          -3.253         0              0              0
  49  Blinds          -3.799         2.506          0.602          0              90             0
  50  Blinds          -3.799         2.506          -0.647         0              90             0
  51  Safe            1.673          0.054          -3.004         0              0              0
  52  ArmChair        -3.349         0.051          3.375          0              150.096        0
  53  SideTable       1.775          0.048          2.377          0              0              0
  54  Chair           -2.002         0.050          -2.532         0              165.000        0
  55  NorthWall
  56  EastWall
  57  SouthWall
  58  WestWall

Plan:
STEP 1: turn to the left twice and go forward a few steps and turn to the right and go to the night stand | STEP 2: pick up the book from the night stand | STEP 3: turn to the right twice and take a step forward and turn to the right and take a few steps forward and turn to the right and go to the wall and turn to the right | STEP 4: turn on the lamp on the night stand | END