Task: Turn on a lamp while carrying a laptop

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -4.25          0.900          -0.5           0              90             0
   1  TissueBox       0.098          0.900          1.327          0              0              0              44
   2  Newspaper       -0.818         0.898          1.234          0              0              0              44
   3  Newspaper       -0.806         0.127          1.202          0              0              0              42
   4  KeyChain        -4.165         1.063          0.257          0              270            0              32
   5  KeyChain        -1.578         0.510          -1.124         0              90             0              35
   6  RemoteControl   1.829          0.657          -1.564         0              0              0              37
   7  RemoteControl   -0.354         0.635          1.219          0              0              0              45
   8  CreditCard      -0.595         0.127          1.310          0              0              0              42
   9  CreditCard      1.488          0.458          0.965          0              0              0              34
  10  Box             -3.780         1.305          0.457          0              0              0              32
  11  Vase            1.117          0.657          1.043          0              0              0              33
  12  TissueBox       1.418          0.660          0.968          0              0              0              33
  13  Newspaper       -1.226         0.127          1.202          0              0              0              42
  14  KeyChain        0.283          0.482          -0.983         0              0              0              41
  15  Vase            1.267          0.666          1.192          0              0              0              33
  16  Statue          -0.175         0.133          1.238          0              0              0              44
  17  RemoteControl   1.488          0.459          1.119          0              0              0              34
  18  Pillow          -1.827         0.585          -1.251         0              0              0              35
  19  CreditCard      -0.396         0.481          -1.403         0              0              0              41
  20  Laptop          0.434          0.541          -1.187         0              0              0              41
  21  Vase            -3.948         1.069          0.128          0              270            0              32
  22  Statue          1.492          0.757          -1.262         0              0              0              37
  23  DeskLamp        1.657          0.654          -1.605         0              0              0
  24  FloorLamp       -4.569         0.005          -1.616         0              15.092         0
  25  LightSwitch     -2.464         1.230          -1.950         0              0              0
  26  GarbageCan      -4.581         -0.032         1.126          0              90             0
  27  Television      -0.549         1.516          1.450          0              180            0
  28  HousePlant      1.555          0.650          1.166          0              0              0
  29  Window          -2.012         1.501          1.468          90             0              0
  30  Window          0.986          1.501          1.468          90             0              0
  31  Painting        -0.698         1.835          -1.911         90             0              0
  32  DiningTable     -3.941         0.005          0.257          0              0              0
  33  SideTable       1.102          -0.000         1.118          0              180            0
  34  Drawer          1.103          0.519          0.834          0              180            0
  35  ArmChair        -1.832         0.010          -1.349         0              0              0
  36  Drawer          1.581          0.523          -1.199         0              0              0
  37  SideTable       1.581          0.003          -1.488         0              0              0
  38  Painting        -4.910         1.763          -0.098         90             270            0
  39  Chair           -4.398         0.002          0.274          0              85.162         0
  40  Chair           -3.825         0.002          -0.223         0              340.163        0
  41  Sofa            0.057          -0.002         -1.386         0              0              0
  42  Shelf           -0.552         0.114          1.252          0              180            0
  43  Drawer          -1.020         0.728          1.032          0              180            0
  44  SideTable       -0.589         0.000          1.227          0              180            0
  45  Drawer          -0.157         0.728          1.032          0              180            0
  46  NorthWall
  47  EastWall
  48  SouthWall
  49  WestWall

Plan:
STEP 1: Move to the large tan sofa to the right of the wooden end table | STEP 2: Pick up the laptop sitting on top of the sofa | STEP 3: Carry the laptop to the brown side table where the lamp is | STEP 4: Turn on the lamp | END