Task: turn on a desk lamp with a mug 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           -1.5           0.900          2.25           0              270            0
   1  Mug             -1.233         1.721          0.448          0              0              0              41
   2  Mug             -2.091         0.876          0.581          0              0              0              47
   3  CD              -0.587         0.364          -0.692         0              0              0              36
   4  CD              -0.672         0.202          -0.365         0              0              0              30
   5  Pen             -2.091         0.884          0.749          0              0              0              47
   6  Pencil          -1.224         0.882          0.665          0              0              0              47
   7  Pencil          -0.567         0.861          -1.183         0              0              0              37
   8  CreditCard      -1.918         0.878          0.330          0              0              0              40
   9  CreditCard      -1.994         0.104          0.683          0              0              0              50
  10  KeyChain        -0.473         0.083          -0.692         0              0              0              36
  11  Book            -0.511         0.364          -0.933         0              0              0              36
  12  Book            0.598          0.783          1.655          0              0              0              28
  13  Laptop          1.003          0.781          0.787          0              0              0              28
  14  Book            1.815          0.783          1.655          0              0              0              28
  15  AlarmClock      -0.514         0.851          -0.619         0              56.206         0              37
  16  BasketBall      1.976          0.120          0.211          0              331.076        0
  17  Pen             -2.045         1.355          0.448          0              0              0              39
  18  Laptop          -1.783         0.871          0.732          0              0              0              47
  19  BaseballBat     1.953          0.659          -1.81          346.388        0              0
  20  Bowl            -0.827         0.850          -1.641         0              0              0              37
  21  Pillow          1.118          0.867          2.464          0              0              0              28
  22  KeyChain        -2.292         0.039          2.469          0              180            0              55
  23  CreditCard      -1.939         1.349          0.530          0              0              0              39
  24  CellPhone       -2.155         0.105          0.721          0              0              0              50
  25  CD              -1.392         1.723          0.489          0              0              0              41
  26  Pencil          -0.483         0.861          -1.356         0              0              0              37
  27  Mug             -0.399         0.855          -1.529         0              0              0              37
  28  Bed             1.227          -0.002         1.664          0              0              0
  29  LightSwitch     2.151          1.233          -0.518         0              270            0
  30  GarbageCan      -0.747         0.014          -0.327         0              0              0
  31  Mirror          -1.358         1.427          2.855          0              0              0
  32  DeskLamp        -2.296         0.858          0.750          0              0              0
  33  Window          -0.421         1.534          -1.947         90             0              0
  34  Window          0.579          1.534          -1.947         90             0              0
  35  Drawer          -0.491         0.739          -0.855         0              90             0
  36  Drawer          -0.491         0.204          -0.855         0              90             0
  37  Desk            -0.639         0.009          -1.187         0              90             0
  38  Drawer          -0.491         0.487          -0.855         0              90             0
  39  Shelf           -1.965         1.514          0.416          0              0              0
  40  Shelf           -1.965         1.092          0.416          0              0              0
  41  Shelf           -1.312         1.888          0.416          0              0              0
  42  Shelf           -1.965         1.888          0.416          0              0              0
  43  Shelf           -1.312         1.092          0.416          0              0              0
  44  Shelf           -1.312         1.514          0.416          0              0              0
  45  Blinds          0.601          2.161          -1.916         0              0              0
  46  Blinds          -0.402         2.161          -1.916         0              0              0
  47  Desk            -1.726         0.001          0.575          0              0              0
  48  Drawer          -2.058         0.733          0.734          0              0              0
  49  Drawer          -2.058         0.482          0.734          0              0              0
  50  Drawer          -2.058         0.198          0.735          0              0              0
  51  Chair           -0.137         0.000          -1.587         0              315            0
  52  Safe            -2.183         -7.748         2.576          0              180            0
  53  Chair           -1.433         0.009          0.780          357.672        206.726        0
  54  LaundryHamper   0.163          0.003          2.635          0              86.390         0
  55
  56  NorthWall
  57  EastWall
  58  SouthWall
  59  WestWall

Plan:
STEP 1: walk to face the desk | STEP 2:  pick up the white mug from the desk | STEP 3: step back slightly to continue to face desk | STEP 4: turn on desk lamp on the desk | END