Task: pick up cup while turning on lamp that is on dresser

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.0            0.900          1.25           0              180            0
   1  Bowl            0.937          0.576          -2.592         0              0              0              46
   2  Bowl            -1.394         0.699          -2.046         0              0              0              51
   3  Bowl            -1.582         0.699          -2.191         0              0              0              51
   4  CD              1.293          1.410          0.195          0              270            0              39
   5  CD              1.121          0.504          -1.983         0              270            0              29
   6  Pen             1.219          0.510          -1.874         0              270            0              29
   7  CellPhone       1.172          0.239          -1.674         0              0              0              34
   8  CellPhone       -1.269         0.700          -2.046         0              0              0              51
   9  CreditCard      1.260          0.911          0.039          0              270            0              37
  10  CreditCard      -1.332         0.696          -1.755         0              0              0              51
  11  Laptop          -1.203         0.609          -1.065         0              0              0              28
  12  Book            0.623          0.569          -2.471         0              350.999        0              35
  13  KeyChain        1.224          0.106          -1.929         0              0              0              27
  14  BaseballBat     1.436          0.636          1.985          21.882         0              0
  15  BasketBall      1.270          0.12           -1.290         0              345.557        0
  16  Pencil          -0.003         0.582          -2.373         0              0              0              46
  17  CellPhone       1.226          1.411          -0.671         0              270            0              39
  18  CreditCard      1.172          0.370          -1.963         0              0              0              26
  19  Laptop          -1.082         0.609          -0.223         0              0              0              28
  20  Pillow          -1.323         0.713          0.337          0              0              0              28
  21  Boots           1.288          0.000          -0.961         0              177.912        0
  22  Pen             0.309          0.582          -2.592         0              0              0              46
  23  AlarmClock      0.309          0.576          -2.427         0              0              0              46
  24  CD              -1.394         0.699          -1.900         0              0              0              51
  25  Bowl            -1.611         1.521          -1.571         0              270            0              40
  26  Drawer          0.980          0.271          -1.963         0              0              0
  27  Drawer          0.980          0.139          -1.963         0              0              0
  28  Bed             -1.209         0.016          -0.266         0              180            1.624
  29  Shelf           1.220          0.859          -1.802         0              270            0
  30  Drawer          0.980          0.404          -1.963         0              0              0
  31  Drawer          0.980          0.272          -1.639         0              0              0
  32  Mirror          0.740          1.491          2.099          0              0              0
  33  Drawer          0.980          0.139          -1.639         0              0              0
  34  Drawer          0.980          0.404          -1.639         0              0              0
  35  Chair           0.280          -0.001         -2.264         0              180            0
  36  GarbageCan      -1.542         0.013          1.919          2.249          116.925        355.175
  37  Shelf           1.259          0.903          -0.269         0              270            0
  38  Shelf           1.259          0.375          -0.263         0              270            0
  39  Shelf           1.259          1.402          -0.259         0              270            0
  40  Shelf           -1.577         1.513          -2.025         0              270            0
  41  LightSwitch     -0.755         1.176          2.099          0              180            0
  42  DeskLamp        -1.489         0.669          -2.419         0              0              0
  43  Window          0.243          0.963          -2.678         90             0              0
  44  Window          -0.361         0.963          -2.679         90             0              0
  45  Window          -0.962         0.963          -2.678         90             0              0
  46  Desk            0.445          0.001          -2.430         0              0              0
  47  Blinds          -0.349         2.186          -2.685         0              0              0
  48  Blinds          0.250          2.186          -2.685         0              0              0
  49  Blinds          -0.952         2.186          -2.685         0              0              0
  50  Drawer          -1.314         0.163          -2.051         0              90             0
  51  SideTable       -1.444         -0.001         -2.051         0              90             0
  52  Drawer          -1.314         0.455          -2.051         0              90             0
  53  NorthWall
  54  EastWall
  55  SouthWall
  56  WestWall

Plan:
STEP 1: walk straight and turn right when getting to the white desk. Stop at the dresser | STEP 2: Pick up the cup that is in the back from the dresser | STEP 3: turn around and then turn back around facing the dresser | STEP 4: turn the lamp on that is on the dresser | END