Task: View a safe by lamp light.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.25          0.901          -1.5           0              90             0
   1  CD              1.678          0.047          -0.373         0              345.000        0              29
   2  CellPhone       -2.046         0.631          -0.748         0              0              0              25
   3  Pen             0.661          0.699          -2.336         0              90             0              34
   4  CreditCard      0.845          0.692          -2.055         0              90             0              34
   5  CreditCard      1.684          0.692          -1.074         0              0              0              34
   6  KeyChain        1.492          0.473          -0.764         0              90             0              33
   7  KeyChain        -0.561         0.091          0.457          0              90             0              38
   8  Book            1.622          0.691          -0.906         0              0              0              34
   9  Laptop          -2.046         0.628          0.351          0              0              0              25
  10  Pillow          -1.696         0.703          -0.473         0              0              0              25
  11  AlarmClock      1.492          0.475          -0.862         0              270            0              33
  12  Box             -0.015         0.239          -2.091         0              0              0
  13  Book            -0.782         0.661          0.600          0              180            0              37
  14  BaseballBat     1.798          0.639          0.425          0              0              342.316
  15  Pen             0.242          0.699          -2.318         0              99.090         0              34
  16  Pencil          0.276          0.697          -2.106         0              99.090         0              34
  17  KeyChain        -0.634         0.663          0.470          0              180            0              37
  18  Pillow          -1.696         0.703          -1.297         0              0              0              25
  19  CreditCard      -0.291         0.693          -2.064         0              90             0              34
  20  CellPhone       1.372          0.694          -1.767         0              18.354         0              34
  21  Laptop          -1.346         0.628          0.076          0              0              0              25
  22  CD              -0.634         0.662          0.556          0              180            0              37
  23  Bowl            1.222          0.686          -2.128         0              0              0              34
  24  AlarmClock      -0.413         0.664          0.643          0              180            0              37
  25  Bed             -1.696         0.004          -0.446         0              0              0
  26  Chair           0.956          -0.000         -1.747         0              110.225        0
  27  DeskLamp        -0.440         0.688          -2.276         0              0              0
  28  LightSwitch     0.625          1.338          0.734          0              180            0
  29  GarbageCan      1.660          -0.019         -0.389         0              345.008        0
  30  Mirror          1.300          1.422          0.765          0              0              0
  31  HousePlant      -0.867         0.000          -2.286         0              0              0
  32  Window          0.819          1.496          -2.553         90             180            0
  33  Shelf           1.616          0.561          -0.802         0              0              0
  34  Desk            0.617          -0.000         -1.511         0              0              0
  35  Blinds          0.796          2.217          -2.476         0              0              0
  36  Drawer          -0.558         0.456          0.462          0              180            0
  37  SideTable       -0.557         -0.000         0.529          0              180            0
  38  Drawer          -0.558         0.164          0.462          0              180            0
  39  Desktop         1.455          0.692          -1.886         358.180        309.674        0
  40  NorthWall
  41  EastWall
  42  SouthWall
  43  WestWall

Plan:
STEP 1: Turn left, then turn right and go to the safe. | STEP 2: Pick up the safe from under the desk. | STEP 3: Turn around and go to the bed, then turn left. | STEP 4: Turn on the lamp on the desk. | END