Task: Turn a lamp on with a computer 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           1.0            0.937          2.0            0              90             0
   1  Mug             -2.685         0.080          -2.976         0              0              0              32
   2  Mug             1.805          0.550          2.181          0              0              0              58
   3  CD              -1.227         1.115          -2.902         0              0              0              38
   4  CD              1.615          0.093          -3.102         0              90             0              56
   5  Pen             -1.851         1.121          -2.732         0              0              0              38
   6  Pen             -1.337         0.590          -2.778         0              0              0              34
   7  CreditCard      1.609          0.552          2.243          0              90             0              58
   8  Book            -3.380         0.190          3.233          0              149.999        0              57
   9  KeyChain        1.755          0.554          2.324          0              0              0              58
  10  RemoteControl   -0.602         1.118          -3.158         0              0              0              38
  11  RemoteControl   -2.164         1.118          -3.073         0              0              0              38
  12  AlarmClock      1.609          0.554          2.440          0              90             0              58
  13  Pillow          0.104          0.940          1.456          0              0              0              31
  14  Laptop          -1.539         1.114          -2.817         0              0              0              38
  15  Laptop          0.958          0.830          0.975          0              0              0              31
  16  Laptop          0.673          0.830          1.456          0              0              0              31
  17  Book            -2.251         0.190          3.593          0              180            0              51
  18  AlarmClock      -0.602         1.118          -2.902         0              0              0              38
  19  CellPhone       1.721          0.097          -2.997         0              90             0              56
  20  Pillow          1.785          0.87           0.309          0              270            0              31
  21  Pillow          0.104          0.940          0.015          0              0              0              31
  22  TeddyBear       1.868          0.036          -0.561         0              59.999         0              Floor|-00.06|
  23  CreditCard      -1.227         1.116          -3.158         0              0              0              38
  24  KeyChain        1.828          0.095          -2.997         0              90             0              56
  25  Pencil          -1.426         0.586          -2.934         0              0              0              34
  26  Laptop          0.104          0.830          0.495          0              0              0              31
  27  RemoteControl   -1.071         0.585          -2.934         0              0              0              34
  28  CD              -1.851         1.115          -3.243         0              0              0              38
  29  Pen             -0.543         0.090          -2.986         0              0              0              37
  30  Mug             -0.289         1.114          -2.902         0              90             0              38
  31  Bed             0.967          0.049          0.667          0              90             0
  32  Cabinet         -3.0           1.497          -2.643         0              0              0
  33  Drawer          -0.365         0.785          -2.848         0              0              0
  34  Drawer          -1.159         0.785          -2.848         0              0              0
  35  Cabinet         2.064          1.497          -2.643         0              0              0
  36  Drawer          -1.159         0.285          -2.848         0              0              0
  37  Drawer          -0.365         0.285          -2.848         0              0              0
  38  Desk            -1.271         1.169          -2.987         0              0              0
  39  LightSwitch     -0.159         1.281          3.999          0              180            0
  40  GarbageCan      -3.338         0.022          -2.797         0              4.809          0
  41  HousePlant      -0.195         1.105          -3.084         0              0              0
  42  DeskLamp        1.863          0.581          2.431          0              0              0
  43  Mirror          -1.603         1.447          3.999          0              0              0
  44  Television      -3.883         1.771          2.122          0              90             0
  45  Window          -1.952         2.148          -3.302         90             180            0
  46  Window          -0.467         2.148          -3.302         90             180            0
  47  Window          -3.894         1.751          0.582          90             270            0
  48  Window          -3.894         1.751          -0.675         90             270            0
  49  LaundryHamper   1.831          0.058          3.689          0              354.434        1.354
  50  ArmChair        -0.948         0.051          3.583          0              175.988        0
  51  ArmChair        -2.172         0.051          3.598          0              180            0
  52  Blinds          -0.477         2.785          -3.253         0              0              0
  53  Blinds          -1.957         2.785          -3.253         0              0              0
  54  Blinds          -3.799         2.506          0.602          0              90             0
  55  Blinds          -3.799         2.506          -0.647         0              90             0
  56  Safe            1.673          0.054          -3.004         0              0              0
  57  ArmChair        -3.349         0.051          3.375          0              150.096        0
  58  SideTable       1.775          0.048          2.377          0              0              0
  59  Chair           -2.002         0.050          -2.532         0              165.000        0
  60  NorthWall
  61  EastWall
  62  SouthWall
  63  WestWall

Plan:
STEP 1: Turn around and face the computer on the edge of the bed. | STEP 2: Close the computer on the edge of the bed and pick it up from the bed. | STEP 3: Turn to the left and face the small table next to the bed. | STEP 4: Turn the light on. | END