Task: turn on desk lamp with red and grey bottle in hand

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           1.0            0.900          -0.75          0              0              0
   1  CD              -2.074         0.386          0.759          0              0              0              46
   2  CD              -1.286         1.723          0.448          0              0              0              38
   3  CellPhone       -2.240         0.040          2.469          0              180            0              49
   4  Pen             -0.511         0.089          -1.013         0              0              0              33
   5  Pen             -0.549         0.089          -0.692         0              0              0              33
   6  CreditCard      -0.586         0.649          -1.012         0              0              0              32
   7  KeyChain        -0.549         0.649          -0.772         0              0              0              32
   8  KeyChain        -2.292         0.039          2.736          0              270            0              52
   9  Pillow          0.800          0.918          0.787          0              0              0              25
  10  Laptop          1.612          0.781          2.234          0              0              0              25
  11  Book            1.206          0.783          1.076          0              0              0              25
  12  AlarmClock      -0.819         0.858          -0.663         0              0              0              34
  13  BasketBall      1.976          0.120          0.211          0              331.076        0
  14  Pen             -0.473         0.370          -0.772         0              0              0              35
  15  Laptop          -1.783         0.871          0.732          0              0              0              44
  16  BaseballBat     1.953          0.659          -1.81          346.388        0              0
  17  Bowl            -2.091         0.882          0.581          0              0              0              44
  18  Pillow          1.612          0.918          0.787          0              0              0              25
  19  KeyChain        -0.567         0.857          -1.010         0              0              0              34
  20  CreditCard      -1.914         0.668          0.796          0              0              0              45
  21  CellPhone       -1.233         1.351          0.407          0              0              0              38
  22  CD              -2.083         0.039          2.522          0              180            0              49
  23  Pencil          -2.155         0.671          0.758          0              0              0              45
  24  Mug             -0.399         0.855          -1.529         0              0              0              34
  25  Bed             1.227          -0.002         1.664          0              0              0
  26  LightSwitch     2.151          1.233          -0.518         0              270            0
  27  GarbageCan      -0.747         0.014          -0.327         0              0              0
  28  Mirror          -1.358         1.427          2.855          0              0              0
  29  DeskLamp        -2.296         0.858          0.750          0              0              0
  30  Window          -0.421         1.534          -1.947         90             0              0
  31  Window          0.579          1.534          -1.947         90             0              0
  32  Drawer          -0.491         0.739          -0.855         0              90             0
  33  Drawer          -0.491         0.204          -0.855         0              90             0
  34  Desk            -0.639         0.009          -1.187         0              90             0
  35  Drawer          -0.491         0.487          -0.855         0              90             0
  36  Shelf           -1.965         1.514          0.416          0              0              0
  37  Shelf           -1.965         1.092          0.416          0              0              0
  38  Shelf           -1.312         1.888          0.416          0              0              0
  39  Shelf           -1.965         1.888          0.416          0              0              0
  40  Shelf           -1.312         1.092          0.416          0              0              0
  41  Shelf           -1.312         1.514          0.416          0              0              0
  42  Blinds          0.601          2.161          -1.916         0              0              0
  43  Blinds          -0.402         2.161          -1.916         0              0              0
  44  Desk            -1.726         0.001          0.575          0              0              0
  45  Drawer          -2.058         0.733          0.734          0              0              0
  46  Drawer          -2.058         0.482          0.734          0              0              0
  47  Drawer          -2.058         0.198          0.735          0              0              0
  48  Chair           -0.137         0.000          -1.587         0              315            0
  49  Safe            -2.183         -7.748         2.576          0              180            0
  50  Chair           -1.433         0.009          0.780          357.672        206.726        0
  51  LaundryHamper   0.163          0.003          2.635          0              86.390         0
  52
  53  NorthWall
  54  EastWall
  55  SouthWall
  56  WestWall

Plan:
STEP 1: walk to face right side of desk | STEP 2: pick up red and grey bottle from desk | STEP 3: walk to desk on right side of room | STEP 4: turn on lamp on the desk | END