Task: examine a book with a lamp

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.25          0.900          -0.75          0              90             0
   1  Mug             1.288          0.727          1.231          0              0              0              40
   2  Mug             1.423          0.727          1.231          0              0              0              40
   3  CD              1.134          0.077          0.564          0              0              0              30
   4  Pen             1.356          0.734          1.727          0              0              0              40
   5  Pen             1.173          0.081          1.737          0              0              0              38
   6  Pencil          1.288          0.732          1.396          0              0              0              40
   7  CreditCard      1.247          1.138          1.402          0              270            0              37
   8  KeyChain        1.373          1.139          1.558          0              270            0              37
   9  Book            0.955          0.780          -1.537         0              0              0              29
  10  Box             -1.233         0.263          -1.435         0              312.675        0
  11  CellPhone       0.138          0.696          -1.794         0              0              0              42
  12  BaseballBat     -1.717         0.708          -0.677         0              0              12.045
  13  Bowl            1.152          0.729          0.901          0              0              0              40
  14  BasketBall      -1.64          0.127          -1.652         0              0              0
  15  Laptop          0.955          0.776          0.107          0              0              0              29
  16  CreditCard      1.373          1.138          1.246          0              270            0              37
  17  KeyChain        -0.213         0.691          -1.616         0              0              0              42
  18  AlarmClock      1.288          0.729          0.901          0              0              0              40
  19  Pencil          1.373          1.142          1.089          0              270            0              37
  20  Pillow          0.955          0.849          -0.714         0              0              0              29
  21  CD              1.084          0.728          1.231          0              0              0              40
  22  Pen             1.173          0.558          1.595          0              0              0              39
  23  Mug             1.084          0.727          1.562          0              270            0              40
  24  Poster          0.978          1.970          -1.868         90             0              0
  25  Mirror          -0.884         1.350          2.086          0              0              0
  26  Poster          1.483          1.978          -1.210         90             270            0
  27  Poster          1.483          1.503          -0.128         90             270            0
  28  Poster          1.483          2.138          -0.128         90             270            0
  29  Bed             0.955          0.002          -0.722         0              0              0
  30  GarbageCan      1.133          0.032          0.581          0              0              0
  31  DeskLamp        -0.396         0.664          -1.666         0              315            0
  32  LightSwitch     0.554          1.154          2.079          0              180            0
  33  Window          -0.174         1.006          -2.009         90             0              0
  34  LaundryHamper   -1.425         0.006          1.676          0              149.999        0
  35  Chair           1.127          -8.434         1.053          0              90             0
  36  Blinds          -0.145         1.679          -1.986         0              0              0
  37  Shelf           1.316          1.174          1.388          0              270            0
  38  Drawer          1.099          0.167          1.724          0              270            0
  39  Drawer          1.099          0.622          1.724          0              270            0
  40  Desk            1.189          0.002          1.384          0              270            0
  41  Drawer          1.099          0.408          1.724          0              270            0
  42  SideTable       -0.103         -0.000         -1.691         0              0              0
  43  Drawer          -0.104         0.157          -1.618         0              0              0
  44  Drawer          -0.104         0.456          -1.618         0              0              0
  45  NorthWall
  46  EastWall
  47  SouthWall
  48  WestWall

Plan:
STEP 1: walk forward a few steps, turn right, take two steps, turn left, walk to bed | STEP 2: pick up the book that is on the bed | STEP 3: turn around, take a step, turn left to face small table | STEP 4: turn the lamp on | END