Task: Carry a bowl 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           -1.5           0.906          -0.5           0              90             0
   1  Bowl            -1.400         0.982          -1.606         0              0              0              41
   2  KeyChain        -1.572         1.536          -1.671         0              0              0              43
   3  CD              -1.238         0.097          -1.390         0              0              0              39
   4  CD              -0.590         0.981          -1.687         0              0              0              41
   5  CellPhone       -0.995         0.982          -1.362         0              0              0              41
   6  CellPhone       -1.708         0.896          1.453          0              0              0              35
   7  Pencil          -1.400         0.984          -1.443         0              0              0              41
   8  Pencil          -1.001         1.539          -1.593         0              0              0              43
   9  Book            -1.571         0.897          0.575          0              0              0              35
  10  Book            -0.875         2.053          0.575          0              0              0              35
  11  Pillow          -1.026         0.952          1.746          0              0              0              35
  12  AlarmClock      -1.603         0.982          -1.524         0              0              0              41
  13  AlarmClock      -1.198         0.982          -1.606         0              90             0              41
  14  Book            -1.299         0.897          2.332          0              0              0              35
  15  Box             1.563          0.286          -1.069         0              347.500        0
  16  BasketBall      -1.657         0.126          -0.090         0              0              0
  17  Pen             -1.198         0.988          -1.281         0              0              0              41
  18  Pencil          -1.413         0.425          -1.345         0              0              0              42
  19  Laptop          -1.435         0.894          1.746          0              0              0              35
  20  Pillow          -1.435         0.952          1.160          0              0              0              35
  21  KeyChain        -0.792         0.982          -1.524         0              90             0              41
  22  Bowl            -0.811         1.537          -1.553         0              0              0              43
  23  CreditCard      -1.191         1.536          -1.632         0              0              0              43
  24  CellPhone       -0.940         2.053          1.746          0              0              0              35
  25  CD              -0.995         0.981          -1.606         0              0              0              41
  26  AlarmClock      -1.400         0.982          -1.200         0              0              0              41
  27  Mug             -0.621         1.534          -1.593         0              0              0              43
  28  Statue          -1.603         0.988          -1.281         0              0              0              41
  29  Mirror          1.907          1.387          0.973          0              90             0
  30  LaundryHamper   -0.351         0.007          2.368          0              164.999        0
  31  DeskLamp        -0.343         1.545          -1.564         0              0              0
  32  GarbageCan      -0.035         0.007          -1.530         0              270            0
  33  Window          1.009          1.514          -2.089         90             0              0
  34  LightSwitch     0.397          1.197          2.729          0              180            0
  35  Bed             -1.299         1.937          1.441          0              0              0
  36  Blinds          1.064          2.382          -2.094         0              0              0
  37  Chair           0.884          0.012          -1.433         0              29.871         0
  38  Chair           -0.646         0.007          -1.206         0              195.000        0
  39  Drawer          -1.409         0.233          -1.303         0              0              0
  40  Drawer          -1.407         0.847          -1.302         0              0              0
  41  Desk            -0.993         0.006          -1.410         0              0              0
  42  Drawer          -1.408         0.558          -1.302         0              0              0
  43  Shelf           0.003          0.013          0.035          0              0              0
  44  NorthWall
  45  EastWall
  46  SouthWall
  47  WestWall

Plan:
STEP 1: Move to the right facing the top desk shelf with the bowl on top  | STEP 2: Pick up the bowl on top of the desk shelf to the left | STEP 3: Carry the bowl over to the far left side of the desk shelf where the lamp is | STEP 4: Turn on the lamp | END