Task: the on the lamp on the desk while holding an alarm clock

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          0.901          -0.25          0              90             0
   1  Bowl            1.371          0.694          -1.968         0              18.354         0              34
   2  CD              1.664          0.051          -0.418         0              345.000        0              29
   3  Pen             1.520          0.698          -1.715         0              18.354         0              34
   4  Pen             1.747          0.698          -1.576         0              0              0              34
   5  CreditCard      1.549          0.692          -2.027         0              18.354         0              34
   6  CreditCard      -0.451         0.090          0.503          0              0              0              38
   7  KeyChain        -0.634         0.663          0.643          0              0              0              37
   8  KeyChain        -0.506         0.369          0.457          0              90             0              36
   9  Book            -0.782         0.661          0.513          0              180            0              37
  10  Book            -1.346         0.629          -1.023         0              0              0              25
  11  AlarmClock      -0.560         0.664          0.600          0              180            0              37
  12  Box             -0.015         0.239          -2.091         0              0              0
  13  Book            -1.521         0.629          -0.473         0              0              0              25
  14  BaseballBat     1.798          0.639          0.425          0              0              342.316
  15  Pen             0.347          0.698          -2.118         0              99.090         0              34
  16  Pencil          0.205          0.697          -2.095         0              99.090         0              34
  17  KeyChain        1.527          0.473          -0.813         0              270            0              33
  18  Pillow          -1.871         0.703          -0.748         0              0              0              25
  19  CreditCard      -0.615         0.090          0.503          0              0              0              38
  20  CellPhone       -0.339         0.664          0.556          0              180            0              37
  21  Laptop          1.641          0.686          -1.011         0              270            0              34
  22  CD              1.559          0.693          -1.576         0              0              0              34
  23  Bowl            1.559          0.695          -1.409         0              0              0              34
  24  AlarmClock      1.492          0.475          -0.715         0              270            0              33
  25  Bed             -1.696         0.004          -0.446         0              0              0
  26  Chair           0.956          -0.000         -1.747         0              110.225        0
  27  DeskLamp        -0.440         0.688          -2.276         0              0              0
  28  LightSwitch     0.625          1.338          0.734          0              180            0
  29  GarbageCan      1.660          -0.019         -0.389         0              345.008        0
  30  Mirror          1.300          1.422          0.765          0              0              0
  31  HousePlant      -0.867         0.000          -2.286         0              0              0
  32  Window          0.819          1.496          -2.553         90             180            0
  33  Shelf           1.616          0.561          -0.802         0              0              0
  34  Desk            0.617          -0.000         -1.511         0              0              0
  35  Blinds          0.796          2.217          -2.476         0              0              0
  36  Drawer          -0.558         0.456          0.462          0              180            0
  37  SideTable       -0.557         -0.000         0.529          0              180            0
  38  Drawer          -0.558         0.164          0.462          0              180            0
  39  Desktop         1.455          0.692          -1.886         358.180        309.674        0
  40  NorthWall
  41  EastWall
  42  SouthWall
  43  WestWall

Plan:
STEP 1: turn left to face the night stand | STEP 2: grab the alarm clock off of the night stand | STEP 3: turn around and walk to the desk | STEP 4: turn on the lamp on the desk | END