Task: pick up lid while turning on 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            0.901          -0.5           0              180            0
   1  Vase            -1.582         0.599          -0.392         0              0              0              51
   2  Vase            1.917          0.978          -2.298         0              0              0              31
   3  Vase            1.384          1.179          -2.298         0              0              0              32
   4  CellPhone       -1.515         0.599          -0.816         0              0              0              51
   5  CellPhone       0.359          0.414          -2.550         0              0              0              46
   6  Pen             1.384          1.382          -2.256         0              0              0              34
   7  Pencil          -1.648         0.602          -0.533         0              0              0              51
   8  KeyChain        -1.864         0.509          -1.107         0              180            0              53
   9  KeyChain        -1.937         0.509          -1.190         0              90             0              53
  10  Laptop          -0.564         0.415          -1.733         0              0              0              50
  11  Laptop          -1.024         0.415          -1.733         0              0              0              50
  12  AlarmClock      0.076          0.729          -2.764         0              180            0              44
  13  Box             1.996          0.316          -1.042         0              254.839        0
  14  Book            0.339          0.723          -2.65          0              165.000        0              44
  15  Pillow          -1.548         0.457          -1.831         0              90             0              50
  16  CellPhone       0.269          0.113          -2.550         0              0              0              45
  17  Vase            1.194          0.055          -2.303         0              0              0              60
  18  BaseballBat     -1.629         0.649          0.416          14.491         0              0
  19  CreditCard      -1.864         0.508          -1.232         0              0              0              53
  20  TennisRacket    2.244          0.279          -1.901         335.402        251.974        201.714
  21  KeyChain        -1.794         0.365          -1.149         0              0              0              54
  22  AlarmClock      0.766          0.729          -2.764         0              180            0              44
  23  Cloth           2.176          0.0            -0.571         0              335.474        0
  24  Laptop          -1.764         0.591          -0.112         0              113.510        0              51
  25  CD              0.735          0.724          -2.547         0              0              0              44
  26  CD              -1.755         0.508          -1.232         0              0              0              53
  27  Pen             0.651          0.734          -2.705         0              270            0              44
  28  Pencil          0.191          0.734          -2.705         0              180            0              44
  29  Mug             0.536          0.728          -2.530         0              180            0              44
  30  Shelf           1.311          0.969          -2.298         0              0              0
  31  Shelf           1.843          0.969          -2.298         0              0              0
  32  Shelf           1.311          1.171          -2.298         0              0              0
  33  Shelf           1.843          1.171          -2.298         0              0              0
  34  Shelf           1.311          1.368          -2.298         0              0              0
  35  Shelf           1.843          1.570          -2.298         0              0              0
  36  Shelf           1.843          1.368          -2.298         0              0              0
  37  Shelf           1.311          1.570          -2.298         0              0              0
  38  DeskLamp        -1.848         0.592          -0.786         0              90             0
  39  GarbageCan      2.197          -0.007         0.298          0              232.025        0
  40  LightSwitch     -0.638         1.149          0.499          0              180            0
  41  Poster          0.001          1.495          -2.642         90             90             0
  42  Mirror          -1.072         1.469          0.497          0              0              0
  43  Window          0.435          1.398          -2.855         90             0              0
  44  SideTable       0.435          0.036          -2.647         0              0              0
  45  Drawer          0.433          0.203          -2.445         0              0              0
  46  Drawer          0.433          0.505          -2.445         0              0              0
  47  Dumbbell        -1.656         0.602          -0.534         0              90             0
  48  Blinds          0.449          2.164          -2.845         0              0              0
  49  GarbageBag      1.730          0.318          0.222          270            90             83.412
  50  Bed             -1.047         -0.000         -1.851         0              270            0
  51  Desk            -1.710         0.000          -0.374         0              90             0
  52  Drawer          -1.790         0.245          -1.144         0              90             0
  53  SideTable       -1.824         0.000          -1.144         0              90             0
  54  Drawer          -1.790         0.392          -1.144         0              90             0
  55  Drawer          -1.790         0.097          -1.144         0              90             0
  56  Chair           -1.453         0.005          -0.311         0              286.095        0
  57  Shelf           1.591          0.606          -2.305         0              0              0
  58  ShelvingUnit    1.588          0.004          -2.326         0              0              0
  59  Shelf           1.854          0.453          -2.298         0              0              0
  60  Shelf           1.321          0.155          -2.296         0              0              0
  61  Shelf           1.323          0.456          -2.300         0              0              0
  62  Shelf           1.852          0.152          -2.294         0              0              0
  63  NorthWall
  64  EastWall
  65  SouthWall
  66  WestWall

Plan:
STEP 1: turn right walk towards desk | STEP 2: pick up lid from desk | STEP 3: turn around then turn back towards desk | STEP 4: turn lamp on that is on the desk | END