Task: get a bowl and turn on a lamp

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.5            0.906          -0.25          0              90             0
   1  KeyChain        -1.603         0.981          -1.362         0              0              0              42
   2  KeyChain        -1.413         0.098          -1.390         0              90             0              40
   3  CD              -0.013         0.089          -1.492         0              270            0              33
   4  CD              -0.387         0.982          -1.524         0              0              0              42
   5  CellPhone       -0.973         2.053          2.332          0              0              0              36
   6  CellPhone       -1.587         0.740          -1.345         0              0              0              41
   7  Pen             -0.590         0.987          -1.443         0              0              0              42
   8  Pencil          -1.500         0.101          -1.390         0              0              0              40
   9  Pencil          -1.001         1.539          -1.514         0              0              0              44
  10  CreditCard      -1.400         0.982          -1.200         0              0              0              42
  11  CreditCard      -1.674         0.421          -1.480         0              0              0              43
  12  Book            -0.792         0.983          -1.443         0              0              0              42
  13  AlarmClock      -0.590         0.982          -1.200         0              0              0              42
  14  AlarmClock      -1.400         0.982          -1.524         0              0              0              42
  15  Book            -0.387         0.982          -1.362         0              0              0              42
  16  Box             1.563          0.286          -1.069         0              347.500        0
  17  BasketBall      -1.657         0.126          -0.090         0              0              0
  18  Pen             -0.387         0.988          -1.606         0              0              0              42
  19  Pencil          -1.198         0.985          -1.524         0              0              0              42
  20  Laptop          -1.163         0.894          1.160          0              0              0              36
  21  Pillow          -1.299         0.952          1.746          0              0              0              36
  22  KeyChain        -1.238         0.098          -1.210         0              270            0              40
  23  Bowl            -1.603         0.982          -1.524         0              0              0              42
  24  CreditCard      -1.198         0.981          -1.687         0              0              0              42
  25  CellPhone       -0.940         2.053          0.868          0              0              0              36
  26  CD              -1.587         0.097          -1.300         0              0              0              40
  27  AlarmClock      -0.811         1.537          -1.632         0              90             0              44
  28  Mug             -0.590         0.980          -1.362         0              0              0              42
  29  Statue          -1.503         1.528          -1.590         0              0              0              44
  30  Mirror          1.907          1.387          0.973          0              90             0
  31  LaundryHamper   -0.351         0.007          2.368          0              164.999        0
  32  DeskLamp        -0.343         1.545          -1.564         0              0              0
  33  GarbageCan      -0.035         0.007          -1.530         0              270            0
  34  Window          1.009          1.514          -2.089         90             0              0
  35  LightSwitch     0.397          1.197          2.729          0              180            0
  36  Bed             -1.299         1.937          1.441          0              0              0
  37  Blinds          1.064          2.382          -2.094         0              0              0
  38  Chair           0.884          0.012          -1.433         0              29.871         0
  39  Chair           -0.646         0.007          -1.206         0              195.000        0
  40  Drawer          -1.409         0.233          -1.303         0              0              0
  41  Drawer          -1.407         0.847          -1.302         0              0              0
  42  Desk            -0.993         0.006          -1.410         0              0              0
  43  Drawer          -1.408         0.558          -1.302         0              0              0
  44  Shelf           0.003          0.013          0.035          0              0              0
  45  NorthWall
  46  EastWall
  47  SouthWall
  48  WestWall

Plan:
STEP 1: go the dresser | STEP 2: pick up the bowl | STEP 3: take it over to the window | STEP 4: turn on the lamp | END