Task: turn on table lamp while holding a book

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            0.901          0.25           0              270            0
   1  Vase            0.306          0.731          -2.530         0              180            0              41
   2  Vase            1.853          1.578          -2.298         0              0              0              32
   3  Pen             0.421          0.736          -2.705         0              180            0              41
   4  Pen             0.536          0.734          -2.588         0              180            0              41
   5  Pencil          0.191          0.734          -2.705         0              180            0              41
   6  Pencil          -1.794         0.367          -1.149         0              0              0              51
   7  KeyChain        0.651          0.729          -2.705         0              180            0              41
   8  KeyChain        1.853          0.978          -2.319         0              0              0              28
   9  Laptop          -0.794         0.415          -1.977         0              0              0              47
  10  Box             1.996          0.316          -1.042         0              254.839        0
  11  Book            -1.648         0.600          -0.109         0              0              0              48
  12  Pillow          -1.548         0.457          -1.831         0              90             0              47
  13  CellPhone       -0.564         0.417          -1.488         0              0              0              47
  14  Vase            -1.648         0.599          -0.533         0              0              0              48
  15  BaseballBat     -1.629         0.649          0.416          14.491         0              0
  16  CreditCard      0.421          0.730          -2.822         0              180            0              41
  17  TennisRacket    2.244          0.279          -1.901         335.402        251.974        201.714
  18  KeyChain        -1.846         0.599          -0.109         0              0              0              48
  19  AlarmClock      -1.846         0.599          -0.392         0              0              0              48
  20  Cloth           2.176          0.0            -0.571         0              335.474        0
  21  Laptop          -0.333         0.415          -1.733         0              0              0              47
  22  CD              0.735          0.724          -2.547         0              0              0              41
  23  CD              1.981          1.178          -2.277         0              0              0              30
  24  Pen             -1.780         0.604          0.031          0              0              0              48
  25  Pencil          -1.846         0.602          -0.533         0              0              0              48
  26  Mug             1.194          0.975          -2.277         0              0              0              27
  27  Shelf           1.311          0.969          -2.298         0              0              0
  28  Shelf           1.843          0.969          -2.298         0              0              0
  29  Shelf           1.311          1.171          -2.298         0              0              0
  30  Shelf           1.843          1.171          -2.298         0              0              0
  31  Shelf           1.311          1.368          -2.298         0              0              0
  32  Shelf           1.843          1.570          -2.298         0              0              0
  33  Shelf           1.843          1.368          -2.298         0              0              0
  34  Shelf           1.311          1.570          -2.298         0              0              0
  35  DeskLamp        -1.848         0.592          -0.786         0              90             0
  36  GarbageCan      2.197          -0.007         0.298          0              232.025        0
  37  LightSwitch     -0.638         1.149          0.499          0              180            0
  38  Poster          0.001          1.495          -2.642         90             90             0
  39  Mirror          -1.072         1.469          0.497          0              0              0
  40  Window          0.435          1.398          -2.855         90             0              0
  41  SideTable       0.435          0.036          -2.647         0              0              0
  42  Drawer          0.433          0.203          -2.445         0              0              0
  43  Drawer          0.433          0.505          -2.445         0              0              0
  44  Dumbbell        -1.656         0.602          -0.534         0              90             0
  45  Blinds          0.449          2.164          -2.845         0              0              0
  46  GarbageBag      1.730          0.318          0.222          270            90             83.412
  47  Bed             -1.047         -0.000         -1.851         0              270            0
  48  Desk            -1.710         0.000          -0.374         0              90             0
  49  Drawer          -1.790         0.245          -1.144         0              90             0
  50  SideTable       -1.824         0.000          -1.144         0              90             0
  51  Drawer          -1.790         0.392          -1.144         0              90             0
  52  Drawer          -1.790         0.097          -1.144         0              90             0
  53  Chair           -1.453         0.005          -0.311         0              286.095        0
  54  Shelf           1.591          0.606          -2.305         0              0              0
  55  ShelvingUnit    1.588          0.004          -2.326         0              0              0
  56  Shelf           1.854          0.453          -2.298         0              0              0
  57  Shelf           1.321          0.155          -2.296         0              0              0
  58  Shelf           1.323          0.456          -2.300         0              0              0
  59  Shelf           1.852          0.152          -2.294         0              0              0
  60  NorthWall
  61  EastWall
  62  SouthWall
  63  WestWall

Plan:
STEP 1: walk to face right side of desk | STEP 2: pick up book from desk | STEP 3: walk left to face left side of desk | STEP 4: turn on table lamp on desk | END