Task: turn on desk lamp with 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           0.5            0.900          -1.25          0              0              0
   1  CD              -0.509         0.924          -0.177         0              0              0              35
   2  KeyChain        -0.603         0.925          -1.245         0              0              0              35
   3  Book            -0.320         0.926          -1.245         0              0              0              35
   4  Book            2.143          0.844          -0.484         0              0              0              30
   5  AlarmClock      -0.603         0.925          -1.459         0              0              0              35
   6  AlarmClock      -0.414         0.925          -0.604         0              0              0              35
   7  Pillow          0.012          0.617          1.263          0              0              0              20
   8  Box             2.15           0.14           0.494          0              12.243         0
   9  Book            -0.470         0.551          2.433          0              0              0              20
  10  BasketBall      -0.235         0.120          0.166          0              0              0
  11  Pen             -0.245         0.094          -0.469         0              0              0              34
  12  Pillow          0.012          0.617          0.678          0              0              0              20
  13  Pencil          2.197          0.052          2.606          0              0              0              26
  14  CellPhone       -0.698         0.926          -0.391         0              0              0              35
  15  KeyChain        -0.192         0.089          -0.193         0              0              0              34
  16  CreditCard      2.190          0.842          -0.877         0              0              0              30
  17  AlarmClock      -0.414         0.925          -1.459         0              0              0              35
  18  CD              -0.131         0.924          -0.604         0              0              0              35
  19  Laptop          -0.428         0.919          -0.901         0              20.959         0              35
  20  Bed             0.009          -0.004         1.577          0              0              0
  21  DeskLamp        -0.669         0.923          -0.062         0              90             0
  22  Painting        -0.787         1.809          -0.215         90             270            0
  23  Painting        -0.787         1.809          1.023          90             270            0
  24  Mirror          2.118          1.277          2.749          0              0              0
  25  LightSwitch     0.726          1.200          2.75           0              180            0
  26  GarbageCan      2.257          -0.008         2.603          353.970        0              0
  27  Window          0.665          1.356          -1.911         90             0              0
  28  Drawer          2.119          0.576          -0.491         4.458          270            0
  29  Drawer          2.147          0.213          -0.491         4.458          270            0
  30  SideTable       2.226          0.013          -0.492         4.458          270            0
  31  Chair           0.170          0.011          -1.214         0              261.719        0
  32  Blinds          0.695          1.983          -1.867         0              0              0
  33  Drawer          -0.079         0.513          -0.394         0              90             0
  34  Drawer          -0.079         0.226          -0.394         0              90             0
  35  Desk            -0.391         0.001          -0.811         0              90             0
  36  Drawer          -0.079         0.762          -0.394         0              90             0
  37  NorthWall
  38  EastWall
  39  SouthWall
  40  WestWall

Plan:
STEP 1: walk to face box on floor to the left of bureau  | STEP 2: pick up box from floor | STEP 3: turn around, walk to face desk | STEP 4: turn on lamp on desk | END