Task: turn on a desk lamp with a box in hand

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          0.901          -0.75          0              0              0
   1  Pen             -0.434         0.692          -2.148         0              90             0              32
   2  Pen             -0.577         0.698          -2.064         0              90             0              32
   3  Pencil          0.661          0.696          -2.336         0              90             0              32
   4  KeyChain        -0.561         0.663          0.556          0              180            0              35
   5  KeyChain        1.809          0.694          -1.409         0              0              0              32
   6  Book            -1.171         0.629          -0.473         0              0              0              23
   7  Book            -1.871         0.629          -1.297         0              0              0              23
   8  Pillow          -1.521         0.703          -0.473         0              0              0              23
   9  Pillow          -2.046         0.703          -0.473         0              0              0              23
  10  Box             -0.015         0.239          -2.091         0              0              0
  11  Book            -0.413         0.661          0.556          0              180            0              35
  12  BaseballBat     1.798          0.639          0.425          0              0              342.316
  13  Pen             1.439          0.479          -0.911         0              270            0              31
  14  Pencil          1.520          0.696          -1.715         0              18.354         0              32
  15  KeyChain        1.439          0.473          -0.715         0              270            0              31
  16  Pillow          -1.694         0.656          0.415          0              0              0              23
  17  CreditCard      -0.782         0.663          0.643          0              180            0              35
  18  CellPhone       -2.046         0.631          0.351          0              0              0              23
  19  Laptop          1.641          0.686          -1.011         0              270            0              32
  20  CD              -0.561         0.090          0.503          0              0              0              36
  21  Bowl            1.371          0.695          -1.968         0              18.354         0              32
  22  AlarmClock      1.684          0.694          -1.576         0              0              0              32
  23  Bed             -1.696         0.004          -0.446         0              0              0
  24  Chair           0.956          -0.000         -1.747         0              110.225        0
  25  DeskLamp        -0.440         0.688          -2.276         0              0              0
  26  LightSwitch     0.625          1.338          0.734          0              180            0
  27  GarbageCan      1.660          -0.019         -0.389         0              345.008        0
  28  Mirror          1.300          1.422          0.765          0              0              0
  29  HousePlant      -0.867         0.000          -2.286         0              0              0
  30  Window          0.819          1.496          -2.553         90             180            0
  31  Shelf           1.616          0.561          -0.802         0              0              0
  32  Desk            0.617          -0.000         -1.511         0              0              0
  33  Blinds          0.796          2.217          -2.476         0              0              0
  34  Drawer          -0.558         0.456          0.462          0              180            0
  35  SideTable       -0.557         -0.000         0.529          0              180            0
  36  Drawer          -0.558         0.164          0.462          0              180            0
  37  Desktop         1.455          0.692          -1.886         358.180        309.674        0
  38  NorthWall
  39  EastWall
  40  SouthWall
  41  WestWall

Plan:
STEP 1: walk to face right side of desk | STEP 2: pick up box underneath of the desk  | STEP 3: turn slightly right, continue to face the desk | STEP 4: turn on the lamp on the desk | END