Task: Turn on the desk lamp.

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          -1.25          0              0              0
   1  TissueBox       1.394          0.517          -1.591         0              0              0              38
   2  CD              1.409          0.058          -1.593         0              180            0              39
   3  CellPhone       0.064          0.570          -0.682         0              0              0              23
   4  CellPhone       2.705          0.798          -1.420         0              0              0              36
   5  Pencil          1.909          0.803          -1.358         0              0              0              36
   6  CreditCard      1.240          0.059          -1.593         0              180            0              39
   7  KeyChain        2.108          0.799          -1.543         0              90             0              36
   8  Laptop          0.390          0.568          -0.459         0              0              0              23
   9  Book            -0.097         0.569          -1.352         0              0              0              23
  10  KeyChain        1.239          0.517          -1.712         0              180            0              38
  11  TissueBox       3.067          0.536          -1.421         0              0              0              35
  12  TeddyBear       -0.075         0.562          -0.274         353.177        297.143        5.348          23
  13  Pencil          2.705          0.803          -1.605         0              90             0              36
  14  CreditCard      2.931          0.545          -1.464         0              0              0              35
  15  TennisRacket    -0.921         0.344          0.390          13.911         273.938        195.992        Floor|+00.39|
  16  Laptop          2.362          0.791          -1.54          0              0              0              36
  17  AlarmClock      1.108          0.510          -1.673         0              345.197        0              38
  18  Pen             1.836          0.796          -1.667         0              0              0              36
  19  Pillow          0.299          0.643          -1.557         0              0              0              23
  20  CellPhone       1.296          0.283          -1.614         0              180            0              37
  21  CD              1.909          0.797          -1.605         0              0              0              36
  22  Mug             2.059          0.791          -1.681         0              18.478         0              36
  23  Bed             0.227          -0.003         -0.947         0              180            0
  24  Mirror          0.615          1.264          1.029          0              0              0
  25  GarbageCan      3.166          -0.011         -0.264         4.636          271.335        0
  26  DeskLamp        3.164          0.794          -1.664         0              315            0
  27  HousePlant      -0.833         0.000          0.843          0              0              0
  28  LightSwitch     2.010          1.126          1.029          0              180            0
  29  Window          1.794          1.677          -1.939         90             180            0
  30  Window          0.691          1.361          -1.938         90             180            0
  31  Dumbbell        2.628          0.001          -1.613         0              346.954        0
  32  Blinds          1.776          1.993          -1.858         0              0              0
  33  Blinds          0.670          1.993          -1.858         0              0              0
  34  Chair           2.255          0.004          -1.501         0              167.716        0
  35  Shelf           3.034          0.637          -1.580         0              0              0
  36  Desk            2.500          0.002          -1.596         0              0              0
  37  Drawer          1.240          0.354          -1.553         0              0              0
  38  SideTable       1.239          0.003          -1.551         0              0              0
  39  Drawer          1.240          0.126          -1.553         0              0              0
  40  NorthWall
  41  EastWall
  42  SouthWall
  43  WestWall

Plan:
STEP 1: Turn around and go to the desk across from you.  | STEP 2: Shut the laptop on the desk and pick it up.  | STEP 3: Move over to the far, left end of the desk, where it meets the wall.  | STEP 4: Turn on the lamp in the back, left corner of the desk.  | END