Task: Examine a cup under 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           -2.25          0.900          2.0            0              180            0
   1  Mug             -2.045         1.347          0.325          0              0              0              48
   2  Mug             -0.483         0.855          -1.529         0              0              0              38
   3  CD              -0.903         0.857          -0.836         0              0              0              38
   4  CD              -1.994         0.386          0.646          0              0              0              50
   5  CellPhone       -0.549         0.365          -0.772         0              0              0              37
   6  CellPhone       1.206          0.784          0.787          0              0              0              29
   7  Pen             -2.151         1.729          0.407          0              0              0              43
   8  Pencil          -0.473         0.087          -0.852         0              0              0              37
   9  Pencil          -1.571         0.882          0.581          0              0              0              48
  10  CreditCard      -1.918         0.878          0.414          0              0              0              41
  11  CreditCard      -0.549         0.083          -0.612         0              0              0              37
  12  Book            -0.735         0.857          -0.836         0              0              0              38
  13  Pillow          1.612          0.918          0.787          0              0              0              29
  14  Pillow          1.612          0.918          2.234          0              0              0              29
  15  Book            1.612          0.783          1.076          0              0              0              29
  16  AlarmClock      -0.651         0.858          -1.356         0              0              0              38
  17  BasketBall      1.976          0.120          0.211          0              331.076        0
  18  Pen             -0.785         0.209          -0.338         0              0              0              31
  19  Laptop          -1.783         0.871          0.732          0              0              0              48
  20  BaseballBat     1.953          0.659          -1.81          346.388        0              0
  21  Bowl            -0.483         0.861          -1.010         0              0              0              38
  22  Pillow          1.003          0.918          1.655          0              0              0              29
  23  KeyChain        -2.083         0.039          2.415          0              180            0              53
  24  CreditCard      -1.914         0.668          0.683          0              0              0              49
  25  CellPhone       -2.187         0.040          2.469          0              180            0              53
  26  CD              -0.587         0.364          -1.013         0              0              0              37
  27  Pencil          -2.091         0.882          0.665          0              0              0              48
  28  Mug             -1.233         1.721          0.448          0              0              0              42
  29  Bed             1.227          -0.002         1.664          0              0              0
  30  LightSwitch     2.151          1.233          -0.518         0              270            0
  31  GarbageCan      -0.747         0.014          -0.327         0              0              0
  32  Mirror          -1.358         1.427          2.855          0              0              0
  33  DeskLamp        -2.296         0.858          0.750          0              0              0
  34  Window          -0.421         1.534          -1.947         90             0              0
  35  Window          0.579          1.534          -1.947         90             0              0
  36  Drawer          -0.491         0.739          -0.855         0              90             0
  37  Drawer          -0.491         0.204          -0.855         0              90             0
  38  Desk            -0.639         0.009          -1.187         0              90             0
  39  Drawer          -0.491         0.487          -0.855         0              90             0
  40  Shelf           -1.965         1.514          0.416          0              0              0
  41  Shelf           -1.965         1.092          0.416          0              0              0
  42  Shelf           -1.312         1.888          0.416          0              0              0
  43  Shelf           -1.965         1.888          0.416          0              0              0
  44  Shelf           -1.312         1.092          0.416          0              0              0
  45  Shelf           -1.312         1.514          0.416          0              0              0
  46  Blinds          0.601          2.161          -1.916         0              0              0
  47  Blinds          -0.402         2.161          -1.916         0              0              0
  48  Desk            -1.726         0.001          0.575          0              0              0
  49  Drawer          -2.058         0.733          0.734          0              0              0
  50  Drawer          -2.058         0.482          0.734          0              0              0
  51  Drawer          -2.058         0.198          0.735          0              0              0
  52  Chair           -0.137         0.000          -1.587         0              315            0
  53  Safe            -2.183         -7.748         2.576          0              180            0
  54  Chair           -1.433         0.009          0.780          357.672        206.726        0
  55  LaundryHamper   0.163          0.003          2.635          0              86.390         0
  56  NorthWall
  57  EastWall
  58  SouthWall
  59  WestWall

Plan:
STEP 1: Walk to the computer desk in front of you. | STEP 2: Grab a cup from the shelf on the desk. | STEP 3: Go to the right of the desk. | STEP 4: Turn the lamp on. | END