Task: Turning on a lamp while holding a canteen

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            0.900          -1.0           0              0              0
   1  CD              -0.748         0.202          -0.338         0              0              0              24
   2  Pen             -2.235         0.110          0.721          0              0              0              44
   3  Pen             -1.834         1.729          0.448          0              0              0              36
   4  CreditCard      -1.914         0.104          0.683          0              0              0              44
   5  KeyChain        -1.939         1.723          0.530          0              0              0              36
   6  KeyChain        -2.344         0.039          2.469          0              180            0              46
   7  Laptop          1.612          0.781          1.076          0              0              0              22
   8  Book            1.409          0.783          1.655          0              0              0              22
   9  AlarmClock      -0.819         0.858          -1.356         0              0              0              31
  10  BasketBall      1.976          0.120          0.211          0              331.076        0
  11  Pen             -1.995         0.673          0.721          0              0              0              42
  12  Laptop          0.800          0.781          1.655          0              0              0              22
  13  BaseballBat     1.953          0.659          -1.81          346.388        0              0
  14  Bowl            -2.091         0.882          0.665          0              0              0              41
  15  Pillow          1.003          0.918          1.076          0              0              0              22
  16  KeyChain        -2.344         0.039          2.682          0              180            0              46
  17  CreditCard      -2.235         0.668          0.796          0              0              0              42
  18  CellPhone       1.815          0.784          2.524          0              0              0              22
  19  CD              -2.083         0.039          2.575          0              180            0              46
  20  Pencil          -1.918         0.882          0.665          0              0              0              41
  21  Mug             -1.571         0.876          0.832          0              0              0              41
  22  Bed             1.227          -0.002         1.664          0              0              0
  23  LightSwitch     2.151          1.233          -0.518         0              270            0
  24  GarbageCan      -0.747         0.014          -0.327         0              0              0
  25  Mirror          -1.358         1.427          2.855          0              0              0
  26  DeskLamp        -2.296         0.858          0.750          0              0              0
  27  Window          -0.421         1.534          -1.947         90             0              0
  28  Window          0.579          1.534          -1.947         90             0              0
  29  Drawer          -0.491         0.739          -0.855         0              90             0
  30  Drawer          -0.491         0.204          -0.855         0              90             0
  31  Desk            -0.639         0.009          -1.187         0              90             0
  32  Drawer          -0.491         0.487          -0.855         0              90             0
  33  Shelf           -1.965         1.514          0.416          0              0              0
  34  Shelf           -1.965         1.092          0.416          0              0              0
  35  Shelf           -1.312         1.888          0.416          0              0              0
  36  Shelf           -1.965         1.888          0.416          0              0              0
  37  Shelf           -1.312         1.092          0.416          0              0              0
  38  Shelf           -1.312         1.514          0.416          0              0              0
  39  Blinds          0.601          2.161          -1.916         0              0              0
  40  Blinds          -0.402         2.161          -1.916         0              0              0
  41  Desk            -1.726         0.001          0.575          0              0              0
  42  Drawer          -2.058         0.733          0.734          0              0              0
  43  Drawer          -2.058         0.482          0.734          0              0              0
  44  Drawer          -2.058         0.198          0.735          0              0              0
  45  Chair           -0.137         0.000          -1.587         0              315            0
  46  Safe            -2.183         -7.748         2.576          0              180            0
  47  Chair           -1.433         0.009          0.780          357.672        206.726        0
  48  LaundryHamper   0.163          0.003          2.635          0              86.390         0
  49  NorthWall
  50  EastWall
  51  SouthWall
  52  WestWall

Plan:
STEP 1: Turn around and face the desk | STEP 2: Grab the canteen off of the desk | STEP 3: Turn right and find the desk with the lamp | STEP 4: Turn the lamp on | END