Task: Turn a lamp on and pick up 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           3.0            0.900          -0.75          0              90             0
   1  Mug             1.471          0.515          -1.631         0              180            0              38
   2  TissueBox       1.909          0.800          -1.728         0              0              0              36
   3  CD              2.506          0.797          -1.420         0              0              0              36
   4  CD              1.296          0.282          -1.614         0              180            0              37
   5  Pen             1.909          0.804          -1.543         0              0              0              36
   6  Pen             1.239          0.516          -1.752         0              0              0              38
   7  KeyChain        2.705          0.799          -1.482         0              0              0              36
   8  KeyChain        1.352          0.060          -1.635         0              180            0              39
   9  Book            2.881          0.791          -1.623         0              39.196         0              36
  10  KeyChain        2.108          0.799          -1.420         0              0              0              36
  11  TissueBox       3.067          0.536          -1.421         0              0              0              35
  12  TeddyBear       -0.075         0.562          -0.274         353.177        297.143        5.348          23
  13  Pencil          2.824          0.796          -1.432         0              315            0              36
  14  CreditCard      3.103          0.798          -1.358         0              0              0              36
  15  TennisRacket    -0.921         0.344          0.390          13.911         273.938        195.992        Floor|+00.39|
  16  Laptop          -0.097         0.568          -1.129         0              0              0              23
  17  AlarmClock      1.108          0.510          -1.673         0              345.199        0              38
  18  Pen             1.240          0.516          -1.591         0              0              0              38
  19  Pillow          0.299          0.643          -1.557         0              0              0              23
  20  CellPhone       2.108          0.798          -1.666         0              0              0              36
  21  CD              1.183          0.282          -1.614         0              180            0              37
  22  Mug             2.307          0.796          -1.420         0              0              0              36
  23  Bed             0.227          -0.003         -0.947         0              180            0
  24  Mirror          0.615          1.264          1.029          0              0              0
  25  GarbageCan      3.166          -0.011         -0.264         4.636          271.335        0
  26  DeskLamp        3.164          0.794          -1.664         0              315            0
  27  HousePlant      -0.833         0.000          0.843          0              0              0
  28  LightSwitch     2.010          1.126          1.029          0              180            0
  29  Window          1.794          1.677          -1.939         90             180            0
  30  Window          0.691          1.361          -1.938         90             180            0
  31  Dumbbell        2.628          0.001          -1.613         0              346.954        0
  32  Blinds          1.776          1.993          -1.858         0              0              0
  33  Blinds          0.670          1.993          -1.858         0              0              0
  34  Chair           2.255          0.004          -1.501         0              167.716        0
  35  Shelf           3.034          0.637          -1.580         0              0              0
  36  Desk            2.500          0.002          -1.596         0              0              0
  37  Drawer          1.240          0.354          -1.553         0              0              0
  38  SideTable       1.239          0.003          -1.551         0              0              0
  39  Drawer          1.240          0.126          -1.553         0              0              0
  40  NorthWall
  41  EastWall
  42  SouthWall
  43  WestWall

Plan:
STEP 1: Turn to the right and face the desk. | STEP 2: Turn the lamp on. | STEP 3: Pick the book up from the desk. | END