Task: Turn on the desk lamp.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           1.5            0.906          1.25           0              180            0
   1  Statue          -1.603         0.988          -1.362         0              0              0              40
   2  Statue          -1.001         1.543          -1.553         0              0              0              42
   3  KeyChain        -0.995         0.982          -1.200         0              0              0              40
   4  KeyChain        -1.413         0.739          -1.480         0              90             0              39
   5  CD              -0.013         0.089          -1.453         0              270            0              31
   6  Pen             -0.590         0.988          -1.362         0              0              0              40
   7  Pen             -1.500         0.744          -1.345         0              0              0              39
   8  Pencil          -1.400         0.984          -1.200         0              0              0              40
   9  Pencil          -0.811         1.539          -1.632         0              0              0              42
  10  CreditCard      -1.674         0.421          -1.390         0              0              0              41
  11  Pillow          -1.026         0.952          2.332          0              0              0              34
  12  Laptop          -1.571         0.894          0.868          0              0              0              34
  13  Book            -0.792         0.982          -1.606         0              0              0              40
  14  Box             1.563          0.286          -1.069         0              347.500        0
  15  BasketBall      -1.657         0.126          -0.090         0              0              0
  16  Pen             -1.238         0.744          -1.300         0              0              0              39
  17  Pencil          -0.387         0.985          -1.443         0              0              0              40
  18  Laptop          -1.435         0.894          1.453          0              0              0              34
  19  Pillow          -1.280         0.917          0.478          0              0              0              34
  20  KeyChain        -0.811         1.536          -1.514         0              180            0              42
  21  Bowl            -1.572         1.537          -1.632         0              0              0              42
  22  CreditCard      -1.326         0.739          -1.255         0              0              0              39
  23  CellPhone       -1.238         0.422          -1.390         0              0              0              41
  24  CD              -1.413         0.421          -1.255         0              0              0              41
  25  AlarmClock      -1.198         0.982          -1.606         0              90             0              40
  26  Mug             -0.387         0.980          -1.524         0              0              0              40
  27  Statue          -0.590         0.989          -1.524         0              0              0              40
  28  Mirror          1.907          1.387          0.973          0              90             0
  29  LaundryHamper   -0.351         0.007          2.368          0              164.999        0
  30  DeskLamp        -0.343         1.545          -1.564         0              0              0
  31  GarbageCan      -0.035         0.007          -1.530         0              270            0
  32  Window          1.009          1.514          -2.089         90             0              0
  33  LightSwitch     0.397          1.197          2.729          0              180            0
  34  Bed             -1.299         1.937          1.441          0              0              0
  35  Blinds          1.064          2.382          -2.094         0              0              0
  36  Chair           0.884          0.012          -1.433         0              29.871         0
  37  Chair           -0.646         0.007          -1.206         0              195.000        0
  38  Drawer          -1.409         0.233          -1.303         0              0              0
  39  Drawer          -1.407         0.847          -1.302         0              0              0
  40  Desk            -0.993         0.006          -1.410         0              0              0
  41  Drawer          -1.408         0.558          -1.302         0              0              0
  42  Shelf           0.003          0.013          0.035          0              0              0
  43  NorthWall
  44  EastWall
  45  SouthWall
  46  WestWall

Plan:
STEP 1: Walk past the mirror on your left, then turn to your right and go to the small space between the desk and the bed, then turn towards the desk on your left.  | STEP 2: Pick up the pencil on the top shelf of the desk, to the left of the statue.  | STEP 3: Turn to your left and go to the corner of the desk.  | STEP 4: Turn on the lamp on the top shelf of the desk, to the right. | END