Task: Pick up laptop and turn on lamp.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.75          0.900          -0.25          0              0              0
   1  CD              3.361          0.161          0.046          0              270            0              30
   2  CellPhone       2.282          0.525          1.191          0              180            0              34
   3  CreditCard      -0.252         0.895          -1.773         0              0              0              22
   4  CreditCard      0.784          0.941          -1.854         0              0              0              28
   5  KeyChain        0.961          0.941          -1.91          0              0              0              28
   6  KeyChain        -1.181         0.651          -1.533         0              90             0              25
   7  Book            -1.122         0.901          -1.495         0              0              0              22
   8  Book            2.514          0.523          1.231          0              180            0              34
   9  Laptop          2.329          0.774          -1.205         0              180            0              32
  10  Laptop          1.780          0.774          -0.906         0              180            0              32
  11  Book            -0.426         0.901          -1.588         0              0              0              22
  12  Pen             2.359          0.530          1.231          0              180            0              34
  13  AlarmClock      -0.600         0.897          -1.403         0              0              0              22
  14  TeddyBear       1.324          0.827          -0.763         56.834         332.692        298.236        39
  15  CellPhone       1.506          0.778          -1.354         0              180            0              32
  16  Pencil          3.386          0.165          -0.027         0              270            0              30
  17  Pillow          3.173          0.804          -0.932         0              0              0              39
  18  Laptop          2.878          0.774          -1.354         0              180            0              39
  19  KeyChain        -0.731         0.094          -1.533         0              90             0              23
  20  CreditCard      1.138          0.941          -1.937         0              0              0              28
  21  CD              -1.106         0.650          -1.482         0              0              0              25
  22  Desk            -0.503         0.006          -1.465         0              0              0
  23  Drawer          -0.945         0.493          -1.176         0              0              0
  24  Drawer          -0.946         0.212          -1.176         0              0              0
  25  Drawer          -0.944         0.739          -1.176         0              0              0
  26  DeskLamp        -0.124         0.899          -1.731         0              0              0
  27  LightSwitch     3.513          1.253          0.165          0              270            0
  28  Shelf           0.759          0.934          -1.909         0              0              0
  29  Mirror          2.407          1.294          1.401          0              0              0
  30  GarbageCan      3.347          -0.000         -0.027         0              270            0
  31  Window          0.717          1.603          -2.108         90             0              0
  32  Bed             2.301          0.005          -1.056         0              270            0
  33  Blinds          0.749          2.523          -2.022         0              0              0
  34  SideTable       2.436          0.002          1.143          0              180            0
  35  Drawer          2.437          0.122          1.154          0              180            0
  36  Drawer          2.437          0.350          1.153          0              180            0
  37  LaundryHamper   0.359          0.006          -1.505         0              280.399        358.305
  38  Chair           -0.308         0.009          -1.108         0              166.824        0
  39
  40  NorthWall
  41  EastWall
  42  SouthWall
  43  WestWall

Plan:
STEP 1: Turn right, proceed across room.  Turn right to face bed. | STEP 2: Close the left laptop to the right of the pillow and pick it up. | STEP 3: Turn right, proceed to end of bed, turn left, proceed to window.  Turn right to face desk. | STEP 4: Turn on lamp on the left side of the desk. | END