Task: pick up a clock from an illuminated desk

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.25          0.900          1.25           0              90             0
   1  Mug             -2.575         0.679          -0.281         0              0              0              48
   2  CD              -2.484         0.680          -3.15          0              90             0              41
   3  CD              1.344          0.019          -3.342         0              0              0              30
   4  Pen             2.685          1.234          1.283          0              270            0              46
   5  Pen             2.544          1.234          1.397          0              270            0              46
   6  Pencil          -2.530         0.685          -3.304         0              90             0              41
   7  Pencil          -2.349         0.685          -3.072         0              90             0              41
   8  CreditCard      -2.394         0.680          -3.150         0              90             0              41
   9  CreditCard      -2.575         0.680          -0.436         0              90             0              48
  10  Laptop          -0.742         0.617          -2.261         0              0              0              26
  11  Laptop          -1.591         0.617          -2.461         0              0              0              26
  12  Book            2.351          0.889          -3.157         0              195.000        0              39
  13  CreditCard      2.039          0.896          -3.320         0              0              0              39
  14  Pen             1.858          0.086          -3.101         0              0              0              38
  15  Pencil          1.867          0.901          -3.044         0              0              0              39
  16  TeddyBear       -0.667         0.612          -1.364         0              81.467         0              26
  17  Laptop          2.262          0.355          -0.296         0              0              0              34
  18  AlarmClock      2.556          0.900          -3.320         0              0              0              39
  19  CellPhone       -2.439         0.680          -2.917         0              90             0              41
  20  KeyChain        2.638          1.228          1.511          0              270            0              46
  21  Pillow          -2.124         0.658          -1.522         0              28.296         0              26
  22  Pillow          -2.378         0.637          -2.330         0              0              0              26
  23  CD              2.764          1.249          1.708          0              0              0              35
  24  Mug             -2.394         0.679          -0.746         0              180            0              48
  25  Bowl            1.840          0.889          -3.239         0              0              0              39
  26  Bed             -1.613         -0.028         -1.861         0              270            0
  27  DeskLamp        2.760          0.890          -3.317         0              90             0
  28  DeskLamp        -2.459         0.668          -0.532         0              90             0
  29  LightSwitch     -0.700         1.016          0.334          0              90             0
  30  GarbageCan      1.343          1.087          -3.374         0              0              0
  31  Mirror          0.532          1.419          2.0            0              0              0
  32  Window          -0.834         1.394          -3.653         90             0              0
  33  Window          2.958          1.508          -1.019         90             270            0
  34  Sofa            2.383          0.008          -0.288         0              270            0
  35  Safe            2.721          1.228          1.784          0              270            0
  36  Drawer          1.979          0.486          -2.988         0              0              0
  37  Drawer          1.979          0.728          -2.988         0              0              0
  38  Drawer          1.979          0.208          -2.988         0              0              0
  39  Desk            2.318          -0.009         -3.214         0              0              0
  40  Drawer          -2.349         0.163          -3.150         0              90             0
  41  SideTable       -2.416         -0.001         -3.149         0              90             0
  42  Drawer          -2.349         0.455          -3.150         0              90             0
  43  Drawer          2.641          0.172          1.511          0              270            0
  44  Drawer          2.641          1.002          1.511          0              270            0
  45  Drawer          2.641          0.448          1.511          0              270            0
  46  Dresser         2.676          0.002          1.511          0              270            0
  47  Drawer          2.641          0.725          1.511          0              270            0
  48  SideTable       -2.416         -0.001         -0.514         0              90             0
  49  Drawer          -2.349         0.163          -0.514         0              90             0
  50  Drawer          -2.349         0.455          -0.514         0              90             0
  51  Blinds          -0.800         2.087          -3.627         0              0              0
  52  Blinds          2.931          2.166          -1.0           0              270            0
  53  Chair           2.574          0.002          -2.881         0              175.162        0
  54  NorthWall
  55  EastWall
  56  SouthWall
  57  WestWall

Plan:
STEP 1: walk to face desk | STEP 2: turn on lamp on desk | STEP 3: pick up clock from the desk | END