Task: Carry a brown plate while turning 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           -0.25          0.906          -0.75          0              90             0
   1  Bowl            -0.387         0.982          -1.281         0              0              0              38
   2  Mug             -0.590         0.980          -1.200         0              0              0              38
   3  Statue          -0.590         0.989          -1.606         0              0              0              38
   4  CD              -1.603         0.982          -1.362         0              0              0              38
   5  CD              -0.387         0.982          -1.443         0              0              0              38
   6  CellPhone       -1.400         0.983          -1.524         0              0              0              38
   7  CellPhone       -1.413         0.740          -1.390         0              0              0              37
   8  Pencil          -1.400         0.984          -1.281         0              0              0              38
   9  Pencil          -0.811         1.539          -1.632         0              0              0              40
  10  CreditCard      -1.326         0.421          -1.345         0              0              0              39
  11  Book            -1.163         0.897          1.746          0              0              0              32
  12  Box             1.563          0.286          -1.069         0              347.500        0
  13  BasketBall      -1.657         0.126          -0.090         0              0              0
  14  Pen             -1.198         0.988          -1.200         0              0              0              38
  15  Pencil          -1.674         0.425          -1.255         0              0              0              39
  16  Laptop          -1.435         0.894          2.039          0              0              0              32
  17  Pillow          -1.026         0.952          1.453          0              0              0              32
  18  KeyChain        -1.587         0.098          -1.210         0              270            0              36
  19  Bowl            -0.995         0.982          -1.524         0              0              0              38
  20  CreditCard      -1.587         0.421          -1.345         0              0              0              39
  21  CellPhone       -1.413         0.099          -1.345         0              0              0              36
  22  CD              -1.400         0.982          -1.687         0              0              0              38
  23  AlarmClock      -1.382         1.537          -1.632         0              0              0              40
  24  Mug             -1.572         1.534          -1.671         0              0              0              40
  25  Statue          -0.792         0.988          -1.281         0              0              0              38
  26  Mirror          1.907          1.387          0.973          0              90             0
  27  LaundryHamper   -0.351         0.007          2.368          0              164.999        0
  28  DeskLamp        -0.343         1.545          -1.564         0              0              0
  29  GarbageCan      -0.035         0.007          -1.530         0              270            0
  30  Window          1.009          1.514          -2.089         90             0              0
  31  LightSwitch     0.397          1.197          2.729          0              180            0
  32  Bed             -1.299         1.937          1.441          0              0              0
  33  Blinds          1.064          2.382          -2.094         0              0              0
  34  Chair           0.884          0.012          -1.433         0              29.871         0
  35  Chair           -0.646         0.007          -1.206         0              195.000        0
  36  Drawer          -1.409         0.233          -1.303         0              0              0
  37  Drawer          -1.407         0.847          -1.302         0              0              0
  38  Desk            -0.993         0.006          -1.410         0              0              0
  39  Drawer          -1.408         0.558          -1.302         0              0              0
  40  Shelf           0.003          0.013          0.035          0              0              0
  41  NorthWall
  42  EastWall
  43  SouthWall
  44  WestWall

Plan:
STEP 1: Move to the right facing the left side of the desk | STEP 2: Pick up the brown plate on the edge of the desk | STEP 3: Carry the brown plate upward to the top shelf of the desk where the lamp is | STEP 4: Turn on the lamp | END