Task: Picking up a book and turning on a light to read it by

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.25          0.900          1.75           0              0              0
   1  Mug             -0.567         0.855          -1.183         0              90             0              32
   2  Mug             -0.567         0.855          -0.836         0              0              0              32
   3  CreditCard      -1.571         0.878          0.832          0              0              0              42
   4  CreditCard      -0.819         0.857          -0.663         0              0              0              32
   5  KeyChain        -2.344         0.039          2.682          0              180            0              47
   6  Pillow          0.800          0.918          1.366          0              0              0              23
   7  AlarmClock      -0.735         0.858          -0.836         0              0              0              32
   8  AlarmClock      -1.834         1.724          0.366          0              0              0              36
   9  Book            1.206          0.783          2.524          0              0              0              23
  10  AlarmClock      -1.834         0.883          0.366          0              0              0              42
  11  BasketBall      1.976          0.120          0.211          0              331.076        0
  12  Pen             -1.939         1.729          0.366          0              90             0              37
  13  Laptop          1.206          0.781          1.076          0              0              0              23
  14  BaseballBat     1.953          0.659          -1.81          346.388        0              0
  15  Bowl            -0.567         0.861          -0.663         0              0              0              32
  16  Pillow          0.800          0.918          1.945          0              0              0              23
  17  KeyChain        -1.744         0.879          0.665          0              0              0              42
  18  CreditCard      -0.567         0.857          -1.010         0              0              0              32
  19  CellPhone       -2.187         0.040          2.575          0              180            0              47
  20  CD              -2.315         0.386          0.721          0              0              0              44
  21  Pencil          -1.728         1.353          0.448          0              0              0              34
  22  Mug             -0.399         0.855          -0.836         0              90             0              32
  23  Bed             1.227          -0.002         1.664          0              0              0
  24  LightSwitch     2.151          1.233          -0.518         0              270            0
  25  GarbageCan      -0.747         0.014          -0.327         0              0              0
  26  Mirror          -1.358         1.427          2.855          0              0              0
  27  DeskLamp        -2.296         0.858          0.750          0              0              0
  28  Window          -0.421         1.534          -1.947         90             0              0
  29  Window          0.579          1.534          -1.947         90             0              0
  30  Drawer          -0.491         0.739          -0.855         0              90             0
  31  Drawer          -0.491         0.204          -0.855         0              90             0
  32  Desk            -0.639         0.009          -1.187         0              90             0
  33  Drawer          -0.491         0.487          -0.855         0              90             0
  34  Shelf           -1.965         1.514          0.416          0              0              0
  35  Shelf           -1.965         1.092          0.416          0              0              0
  36  Shelf           -1.312         1.888          0.416          0              0              0
  37  Shelf           -1.965         1.888          0.416          0              0              0
  38  Shelf           -1.312         1.092          0.416          0              0              0
  39  Shelf           -1.312         1.514          0.416          0              0              0
  40  Blinds          0.601          2.161          -1.916         0              0              0
  41  Blinds          -0.402         2.161          -1.916         0              0              0
  42  Desk            -1.726         0.001          0.575          0              0              0
  43  Drawer          -2.058         0.733          0.734          0              0              0
  44  Drawer          -2.058         0.482          0.734          0              0              0
  45  Drawer          -2.058         0.198          0.735          0              0              0
  46  Chair           -0.137         0.000          -1.587         0              315            0
  47  Safe            -2.183         -7.748         2.576          0              180            0
  48  Chair           -1.433         0.009          0.780          357.672        206.726        0
  49  LaundryHamper   0.163          0.003          2.635          0              86.390         0
  50  NorthWall
  51  EastWall
  52  SouthWall
  53  WestWall

Plan:
STEP 1: Turn right towards the bed  | STEP 2: Pick up the green book from the bed | STEP 3: Turn around and go to the wall then turn to the desk to the left | STEP 4: Turn on the light | END