Task: Switch on the desk lamp while carrying a tray.

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            0.901          0.0            0              180            0
   1  CD              -0.506         0.369          0.503          0              0              0              35
   2  CellPhone       -0.487         0.664          0.556          0              180            0              36
   3  CellPhone       -0.291         0.694          -1.896         0              90             0              33
   4  Pencil          -0.670         0.094          0.503          0              0              0              37
   5  Pencil          0.287          0.697          -2.036         0              99.090         0              33
   6  CreditCard      0.183          0.693          -2.236         0              99.090         0              33
   7  CreditCard      -0.782         0.663          0.427          0              180            0              36
   8  KeyChain        1.456          0.473          -0.764         0              90             0              32
   9  KeyChain        1.492          0.473          -0.813         0              270            0              32
  10  Laptop          -1.521         0.628          -0.473         0              0              0              24
  11  Box             -0.015         0.239          -2.091         0              0              0
  12  Book            -1.696         0.629          -0.198         0              0              0              24
  13  BaseballBat     1.798          0.639          0.425          0              0              342.316
  14  Pen             -0.362         0.692          -2.148         0              90             0              33
  15  Pencil          -0.561         0.094          0.503          0              0              0              37
  16  KeyChain        -0.560         0.663          0.643          0              180            0              36
  17  Pillow          -1.694         0.656          0.415          0              0              0              24
  18  CreditCard      -0.708         0.663          0.470          0              180            0              36
  19  CellPhone       -2.046         0.631          -0.473         0              0              0              24
  20  Laptop          1.641          0.686          -1.011         0              270            0              33
  21  CD              1.622          0.692          -1.744         0              0              0              33
  22  Bowl            0.845          0.694          -2.196         0              90             0              33
  23  AlarmClock      0.845          0.695          -2.055         0              180            0              33
  24  Bed             -1.696         0.004          -0.446         0              0              0
  25  Chair           0.956          -0.000         -1.747         0              110.225        0
  26  DeskLamp        -0.440         0.688          -2.276         0              0              0
  27  LightSwitch     0.625          1.338          0.734          0              180            0
  28  GarbageCan      1.660          -0.019         -0.389         0              345.008        0
  29  Mirror          1.300          1.422          0.765          0              0              0
  30  HousePlant      -0.867         0.000          -2.286         0              0              0
  31  Window          0.819          1.496          -2.553         90             180            0
  32  Shelf           1.616          0.561          -0.802         0              0              0
  33  Desk            0.617          -0.000         -1.511         0              0              0
  34  Blinds          0.796          2.217          -2.476         0              0              0
  35  Drawer          -0.558         0.456          0.462          0              180            0
  36  SideTable       -0.557         -0.000         0.529          0              180            0
  37  Drawer          -0.558         0.164          0.462          0              180            0
  38  Desktop         1.455          0.692          -1.886         358.180        309.674        0
  39  NorthWall
  40  EastWall
  41  SouthWall
  42  WestWall

Plan:
STEP 1: Turn right then left and walk forward until you are standing behind the desk chair.  | STEP 2: Pick up the black tray under the desk.  | STEP 3: Walk over to the edge of the desk and stand in front of the desk lamp with the tray in your hand.  | STEP 4: Turn on the desk lamp. | END