Task: Pick up a computer and turn a lamp on.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           2.0            0.902          -0.5           0              270            0
   1  Mug             -0.002         0.671          -2.608         0              0              0              56
   2  CD              0.427          0.672          -2.589         0              0              0              56
   3  CD              1.781          0.799          -2.219         0              0              0              51
   4  CellPhone       -1.061         0.695          -0.573         0              0              0              31
   5  Pen             1.680          0.506          -2.036         0              0              0              53
   6  Pen             1.586          0.339          -1.638         0              0              0              43
   7  Pencil          1.680          0.659          -2.386         0              0              0              46
   8  Pencil          1.586          0.337          -1.376         0              0              0              43
   9  CreditCard      1.536          0.794          -2.031         0              0              0              51
  10  KeyChain        1.842          0.803          -1.843         0              0              0              51
  11  KeyChain        1.597          0.795          -1.655         0              0              358.920        51
  12  AlarmClock      1.662          0.794          -2.031         0              0              0              51
  13  AlarmClock      1.666          0.832          -1.632         292.522        34.677         0              51
  14  Laptop          -0.331         0.693          0.067          0              0              0              31
  15  Laptop          -0.331         0.693          -0.787         0              0              0              31
  16  Book            -1.061         0.694          -1.001         0              180            0              31
  17  KeyChain        1.719          0.801          -1.843         0              0              0              51
  18  AlarmClock      1.535          0.794          -1.843         0              0              0              51
  19  CreditCard      1.773          0.655          -2.124         0              0              0              46
  20  Laptop          -0.331         0.693          -0.36          0              0              0              31
  21  Pen             1.680          0.660          -1.551         0              0              0              44
  22  Pencil          1.680          0.176          -2.298         0              0              0              49
  23  BaseballBat     -1.844         0.678          -2.203         0              0              8.760          Floor|+00.01|
  24  Pillow          -0.818         0.755          0.067          0              0              0              31
  25  Pillow          -1.508         0.685          -0.378         0              288.596        0              31
  26  TennisRacket    -1.597         0.001          -1.367         90             37.792         0              Floor|+00.01|
  27  CellPhone       1.597          0.801          -1.279         0              0              0              51
  28  CD              1.680          0.500          -1.376         0              0              0              45
  29  Mug             1.536          0.799          -2.219         0              0              0              51
  30  Mirror          3.534          1.661          -0.277         0              90             0
  31  Bed             -0.842         -0.000         -0.361         0              270            0
  32  DeskLamp        1.742          0.819          -1.394         0              358.556        0
  33  Painting        0.246          1.564          -2.665         90             0              0
  34  Painting        1.894          1.549          -2.424         90             270            0
  35  Painting        1.894          1.549          -1.289         90             270            0
  36  GarbageCan      3.378          0.000          0.220          0              0              0
  37  LightSwitch     -0.078         1.219          1.298          0              180            0
  38  Window          -0.486         1.409          -2.691         90             0              0
  39  Window          0.987          1.409          -2.691         90             0              0
  40  VacuumCleaner   -1.649         0.010          -2.440         0              42.426         0
  41  Blinds          -0.490         2.130          -2.638         0              0              0
  42  Blinds          1.011          2.130          -2.638         0              0              0
  43  Drawer          1.596          0.411          -1.459         0              270            0
  44  Drawer          1.597          0.732          -1.459         0              270            0
  45  Drawer          1.597          0.574          -1.459         0              270            0
  46  Drawer          1.597          0.732          -2.202         0              270            0
  47  Drawer          1.596          0.247          -1.459         0              270            0
  48  Drawer          1.596          0.090          -1.459         0              270            0
  49  Drawer          1.596          0.247          -2.202         0              270            0
  50  Drawer          1.596          0.411          -2.202         0              270            0
  51  Dresser         1.634          0.003          -1.830         0              270            0
  52  Drawer          1.596          0.090          -2.202         0              270            0
  53  Drawer          1.597          0.574          -2.202         0              270            0
  54  ShelvingUnit    0.249          0.003          -2.519         0              0              0
  55  Shelf           0.017          0.178          -2.511         0              0              0
  56  Shelf           0.249          0.665          -2.519         0              0              0
  57  Shelf           0.243          0.344          -2.511         0              0              0
  58  Shelf           0.474          0.344          -2.511         0              0              0
  59  Shelf           0.355          0.011          -2.511         0              0              0
  60  Shelf           0.016          0.011          -2.511         0              0              0
  61  Shelf           0.357          0.178          -2.511         0              0              0
  62  NorthWall
  63  EastWall
  64  SouthWall
  65  WestWall

Plan:
STEP 1: Go forward and stand at the end of the bed | STEP 2: Close the middle computer and pick the computer up from the bed. | STEP 3: Go left and then left again to face the dresser with the lamp. | STEP 4: Turn the lamp on. | END