Task: Turn on the lamp on the desk while holding the bowl.

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          -1.75          0              180            0
   1  CD              1.293          1.410          -0.671         0              270            0              35
   2  Pen             1.224          0.376          -1.605         0              0              0              30
   3  CellPhone       1.277          0.238          -1.998         0              0              0              22
   4  Pencil          -1.582         0.704          -1.755         0              0              0              47
   5  Pencil          1.071          0.510          -1.874         0              270            0              25
   6  KeyChain        1.293          0.384          -0.531         0              270            0              34
   7  AlarmClock      1.269          0.505          -1.874         0              270            0              25
   8  Book            -1.323         0.610          -0.223         0              0              0              24
   9  KeyChain        1.226          0.912          -0.682         0              270            0              33
  10  BaseballBat     1.436          0.636          1.985          21.882         0              0
  11  BasketBall      1.270          0.12           -1.290         0              345.557        0
  12  Pencil          1.269          0.510          -2.038         0              270            0              25
  13  CellPhone       1.172          0.371          -1.929         0              0              0              26
  14  CreditCard      -0.003         0.576          -2.646         0              0              0              42
  15  Laptop          -1.082         0.609          0.337          0              0              0              24
  16  Pillow          -1.170         0.684          -0.990         0              0              0              24
  17  Boots           1.288          0.000          -0.961         0              177.912        0
  18  Pen             -1.457         0.702          -1.610         0              0              0              47
  19  AlarmClock      1.260          0.911          0.039          0              270            0              33
  20  CD              1.293          0.382          -0.097         0              270            0              34
  21  Bowl            -1.457         0.699          -2.191         0              0              0              47
  22  Drawer          0.980          0.271          -1.963         0              0              0
  23  Drawer          0.980          0.139          -1.963         0              0              0
  24  Bed             -1.209         0.016          -0.266         0              180            1.624
  25  Shelf           1.220          0.859          -1.802         0              270            0
  26  Drawer          0.980          0.404          -1.963         0              0              0
  27  Drawer          0.980          0.272          -1.639         0              0              0
  28  Mirror          0.740          1.491          2.099          0              0              0
  29  Drawer          0.980          0.139          -1.639         0              0              0
  30  Drawer          0.980          0.404          -1.639         0              0              0
  31  Chair           0.280          -0.001         -2.264         0              180            0
  32  GarbageCan      -1.542         0.013          1.919          2.249          116.925        355.175
  33  Shelf           1.259          0.903          -0.269         0              270            0
  34  Shelf           1.259          0.375          -0.263         0              270            0
  35  Shelf           1.259          1.402          -0.259         0              270            0
  36  Shelf           -1.577         1.513          -2.025         0              270            0
  37  LightSwitch     -0.755         1.176          2.099          0              180            0
  38  DeskLamp        -1.489         0.669          -2.419         0              0              0
  39  Window          0.243          0.963          -2.678         90             0              0
  40  Window          -0.361         0.963          -2.679         90             0              0
  41  Window          -0.962         0.963          -2.678         90             0              0
  42  Desk            0.445          0.001          -2.430         0              0              0
  43  Blinds          -0.349         2.186          -2.685         0              0              0
  44  Blinds          0.250          2.186          -2.685         0              0              0
  45  Blinds          -0.952         2.186          -2.685         0              0              0
  46  Drawer          -1.314         0.163          -2.051         0              90             0
  47  SideTable       -1.444         -0.001         -2.051         0              90             0
  48  Drawer          -1.314         0.455          -2.051         0              90             0
  49  NorthWall
  50  EastWall
  51  SouthWall
  52  WestWall

Plan:
STEP 1: Move forward and turn right to face the desk. | STEP 2: Pick up the bowl that is on the desk.  | STEP 3: Turn left and turn back to the right to face the lamp. | STEP 4: Turn on the lamp that is on the desk. | END