Task: To pick up a yellow object, as well as turn on 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           0.5            0.901          -0.75          0              90             0
   1  Mug             1.787          0.353          -2.303         0              0              0              60
   2  Mug             1.447          1.176          -2.277         0              180            0              33
   3  Vase            1.320          1.179          -2.298         0              0              0              33
   4  Vase            1.724          1.179          -2.298         0              0              0              34
   5  Vase            -1.648         0.599          -0.533         0              0              0              52
   6  CellPhone       -0.333         0.417          -1.733         0              0              0              51
   7  CellPhone       -0.564         0.417          -1.733         0              0              0              51
   8  Pen             1.851          0.060          -2.282         0              0              0              63
   9  Pen             0.076          0.734          -2.588         0              180            0              45
  10  Pencil          0.076          0.734          -2.705         0              180            0              45
  11  CreditCard      0.359          0.113          -2.521         0              0              0              46
  12  CreditCard      -1.744         0.069          -1.149         0              0              0              56
  13  Pillow          -1.024         0.491          -1.977         0              0              0              51
  14  Box             1.996          0.316          -1.042         0              254.839        0
  15  Book            0.339          0.723          -2.65          0              165.000        0              45
  16  Pillow          -1.548         0.457          -1.831         0              90             0              51
  17  CellPhone       -1.024         0.417          -2.222         0              0              0              51
  18  Vase            0.766          0.729          -2.705         0              180            0              45
  19  BaseballBat     -1.629         0.649          0.416          14.491         0              0
  20  CreditCard      0.191          0.728          -2.764         0              180            0              45
  21  TennisRacket    2.244          0.279          -1.901         335.402        251.974        201.714
  22  KeyChain        0.651          0.731          -2.705         0              270            0              45
  23  AlarmClock      -1.853         0.501          -1.174         0              285.157        0              52
  24  Cloth           2.176          0.0            -0.571         0              335.474        0
  25  Laptop          -1.764         0.591          -0.112         0              113.510        0              52
  26  CD              0.735          0.724          -2.547         0              0              0              45
  27  CD              0.536          0.730          -2.471         0              180            0              45
  28  Pen             1.788          1.382          -2.277         0              0              0              37
  29  Pencil          -1.846         0.602          -0.533         0              0              0              52
  30  Mug             -1.515         0.597          -0.675         0              0              0              52
  31  Shelf           1.311          0.969          -2.298         0              0              0
  32  Shelf           1.843          0.969          -2.298         0              0              0
  33  Shelf           1.311          1.171          -2.298         0              0              0
  34  Shelf           1.843          1.171          -2.298         0              0              0
  35  Shelf           1.311          1.368          -2.298         0              0              0
  36  Shelf           1.843          1.570          -2.298         0              0              0
  37  Shelf           1.843          1.368          -2.298         0              0              0
  38  Shelf           1.311          1.570          -2.298         0              0              0
  39  DeskLamp        -1.848         0.592          -0.786         0              90             0
  40  GarbageCan      2.197          -0.007         0.298          0              232.025        0
  41  LightSwitch     -0.638         1.149          0.499          0              180            0
  42  Poster          0.001          1.495          -2.642         90             90             0
  43  Mirror          -1.072         1.469          0.497          0              0              0
  44  Window          0.435          1.398          -2.855         90             0              0
  45  SideTable       0.435          0.036          -2.647         0              0              0
  46  Drawer          0.433          0.203          -2.445         0              0              0
  47  Drawer          0.433          0.505          -2.445         0              0              0
  48  Dumbbell        -1.656         0.602          -0.534         0              90             0
  49  Blinds          0.449          2.164          -2.845         0              0              0
  50  GarbageBag      1.730          0.318          0.222          270            90             83.412
  51  Bed             -1.047         -0.000         -1.851         0              270            0
  52  Desk            -1.710         0.000          -0.374         0              90             0
  53  Drawer          -1.790         0.245          -1.144         0              90             0
  54  SideTable       -1.824         0.000          -1.144         0              90             0
  55  Drawer          -1.790         0.392          -1.144         0              90             0
  56  Drawer          -1.790         0.097          -1.144         0              90             0
  57  Chair           -1.453         0.005          -0.311         0              286.095        0
  58  Shelf           1.591          0.606          -2.305         0              0              0
  59  ShelvingUnit    1.588          0.004          -2.326         0              0              0
  60  Shelf           1.854          0.453          -2.298         0              0              0
  61  Shelf           1.321          0.155          -2.296         0              0              0
  62  Shelf           1.323          0.456          -2.300         0              0              0
  63  Shelf           1.852          0.152          -2.294         0              0              0
  64  NorthWall
  65  EastWall
  66  SouthWall
  67  WestWall

Plan:
STEP 1: Turn left, take a step, turn left and walk across the room to face the desk. | STEP 2: Pick up the yellow disk shaped object on the table. | STEP 3: Turn to the left, take a step, turn right to face to lamp. | STEP 4: turn on the lamp. | END