Task: Turning on a lamp while holding a cardboard box

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           1.0            0.900          0.75           0              270            0
   1  CD              2.225          0.049          2.606          0              0              0              27
   2  CellPhone       -0.349         0.378          -0.377         0              0              0              35
   3  CellPhone       -0.247         0.669          -0.561         0              0              0              37
   4  Pen             2.285          0.848          -0.484         0              0              0              31
   5  Book            0.494          0.551          2.140          0              0              0              21
   6  Book            0.172          0.551          2.433          0              0              0              21
   7  AlarmClock      -0.414         0.925          -0.177         0              0              0              36
   8  Pillow          0.333          0.617          1.263          0              0              0              21
   9  Box             2.15           0.14           0.494          0              12.243         0
  10  Book            -0.414         0.926          -0.604         0              0              0              36
  11  BasketBall      -0.235         0.120          0.166          0              0              0
  12  Pen             -0.320         0.930          -0.604         0              90             0              36
  13  Pillow          0.333          0.617          1.848          0              0              0              21
  14  Pencil          -0.192         0.379          -0.101         0              0              0              35
  15  CellPhone       -0.131         0.926          -1.459         0              0              0              36
  16  KeyChain        2.220          0.094          -0.484         0              0              0              30
  17  CreditCard      -0.509         0.925          -1.032         0              0              0              36
  18  AlarmClock      -0.225         0.925          -1.245         0              0              0              36
  19  CD              -0.414         0.924          -0.391         0              0              0              36
  20  Laptop          -0.148         0.548          1.263          0              0              0              21
  21  Bed             0.009          -0.004         1.577          0              0              0
  22  DeskLamp        -0.669         0.923          -0.062         0              90             0
  23  Painting        -0.787         1.809          -0.215         90             270            0
  24  Painting        -0.787         1.809          1.023          90             270            0
  25  Mirror          2.118          1.277          2.749          0              0              0
  26  LightSwitch     0.726          1.200          2.75           0              180            0
  27  GarbageCan      2.257          -0.008         2.603          353.970        0              0
  28  Window          0.665          1.356          -1.911         90             0              0
  29  Drawer          2.119          0.576          -0.491         4.458          270            0
  30  Drawer          2.147          0.213          -0.491         4.458          270            0
  31  SideTable       2.226          0.013          -0.492         4.458          270            0
  32  Chair           0.170          0.011          -1.214         0              261.719        0
  33  Blinds          0.695          1.983          -1.867         0              0              0
  34  Drawer          -0.079         0.513          -0.394         0              90             0
  35  Drawer          -0.079         0.226          -0.394         0              90             0
  36  Desk            -0.391         0.001          -0.811         0              90             0
  37  Drawer          -0.079         0.762          -0.394         0              90             0
  38  NorthWall
  39  EastWall
  40  SouthWall
  41  WestWall

Plan:
STEP 1: Turn around and face the ground | STEP 2: Grab the cardboard box off of the ground | STEP 3: Turn around and go to the desk | STEP 4: Turn on the lamp on the desk | END