Task: Turn a lamp on.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.75           0.901          -1.25          0              270            0
   1  CD              -1.681         0.286          1.515          0              270            0              38
   2  CellPhone       -1.787         0.066          1.648          0              270            0              37
   3  Pen             -1.894         0.646          0.448          0              180            0              40
   4  Pencil          -1.734         0.069          1.581          0              270            0              37
   5  Pencil          -1.787         0.290          1.381          0              270            0              38
   6  CreditCard      0.363          0.684          -1.831         0              0              0              32
   7  KeyChain        -1.617         0.675          1.493          0              0              0              40
   8  Book            -1.787         0.506          1.448          0              270            0              36
   9  AlarmClock      -1.875         1.071          1.351          0              270            0              39
  10  Book            1.318          0.711          0.409          0              270            0              43
  11  AlarmClock      -1.881         0.673          1.062          0              0              0              40
  12  BasketBall      1.510          0.120          -0.105         0              0              0
  13  TeddyBear       -1.7           0.475          -0.331         0              225            0              24
  14  TennisRacket    1.551          0.000          0.654          270            336.082        0
  15  Pen             1.769          0.717          0.022          0              270            0              43
  16  Pencil          1.589          0.715          0.022          0              270            0              43
  17  KeyChain        1.679          0.711          0.409          0              270            0              43
  18  CreditCard      -1.683         0.675          0.919          0              0              0              40
  19  Laptop          -1.786         0.634          0.206          0              159.517        0              40
  20  CellPhone       -1.749         0.676          1.636          0              0              0              40
  21  Pillow          -1.757         0.569          -0.768         0              285.000        0              24
  22  CD              -1.881         0.675          1.206          0              0              0              40
  23  Curtains        1.865          2.039          -0.495         0              0              0
  24  Bed             -1.037         0.009          -0.690         0              270            0
  25  Mirror          0.549          1.494          1.880          0              0              0
  26  Curtains        0.486          2.035          -1.853         0              90             0
  27  GarbageCan      1.683          -0.018         1.670          0              270            0
  28  LightSwitch     -0.119         1.317          1.853          0              180            0
  29  DeskLamp        -1.845         1.057          0.756          0              0              0
  30  Window          1.932          1.409          -0.507         90             270            0
  31  Window          0.481          1.411          -1.932         90             0              0
  32  SideTable       0.626          0.0            -1.705         0              0              0
  33  Footstool       0.176          0.006          -0.358         0              0              0
  34  Dumbbell        1.596          0.715          0.772          0              0              0
  35  Dumbbell        1.776          0.717          0.772          0              0              0
  36  Shelf           -1.700         0.573          1.540          0              90             0
  37  Shelf           -1.700         0.156          1.540          0              90             0
  38  Shelf           -1.700         0.377          1.540          0              90             0
  39  Shelf           -1.839         1.084          1.235          0              90             0
  40  Desk            -1.722         0.003          0.920          0              90             0
  41  Footstool       0.175          0.004          -0.652         0              0              0
  42  GarbageBag      1.624          0.319          -1.609         270            90             83.418
  43  Desk            1.519          1.823          0.385          0              270            0
  44  Chair           -1.459         0.003          0.929          0              292.527        0
  45  NorthWall
  46  EastWall
  47  WestWall

Plan:
STEP 1: Turn to the right and walk to the door. Turn right at the door and walk to the right side of the desk.  | STEP 2: Pick up the box from the top shelf of the desk.  | STEP 3: Turn to the left and walk to the bedside table with box in hand.  | STEP 4: Turn the lamp on the top shelf of the desk, to your right on. | END