Task: Hold a clock 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           1.0            0.900          0.0            0              90             0
   1  CD              -0.320         0.924          -0.604         0              0              0              39
   2  Pen             -0.297         0.382          -0.193         0              0              0              38
   3  Pencil          -0.456         0.671          -0.561         0              0              0              40
   4  Pencil          -0.320         0.928          -1.032         0              0              0              39
   5  CreditCard      -0.131         0.924          -0.391         0              0              0              39
   6  CreditCard      -0.698         0.925          -0.604         0              0              0              39
   7  KeyChain        2.380          0.843          -0.221         0              90             0              34
   8  KeyChain        2.170          0.094          -0.777         0              0              0              33
   9  AlarmClock      -0.509         0.925          -1.459         0              0              0              39
  10  AlarmClock      -0.509         0.925          -0.604         0              0              0              39
  11  AlarmClock      -0.414         0.925          -1.245         0              0              0              39
  12  Box             2.15           0.14           0.494          0              12.243         0
  13  Book            -0.698         0.926          -0.391         0              0              0              39
  14  BasketBall      -0.235         0.120          0.166          0              0              0
  15  Pen             -0.414         0.930          -1.459         0              0              0              39
  16  Pillow          -0.025         0.561          2.458          0              0              0              24
  17  Pencil          2.282          0.053          2.634          0              0              0              30
  18  CellPhone       2.095          0.844          -0.090         0              0              0              34
  19  KeyChain        -0.131         0.925          -0.818         0              0              0              39
  20  CreditCard      2.195          0.458          -0.581         0              0              0              32
  21  AlarmClock      -0.414         0.925          -0.818         0              0              0              39
  22  CD              -0.414         0.924          -0.391         0              0              0              39
  23  Laptop          -0.309         0.548          1.263          0              0              0              24
  24  Bed             0.009          -0.004         1.577          0              0              0
  25  DeskLamp        -0.669         0.923          -0.062         0              90             0
  26  Painting        -0.787         1.809          -0.215         90             270            0
  27  Painting        -0.787         1.809          1.023          90             270            0
  28  Mirror          2.118          1.277          2.749          0              0              0
  29  LightSwitch     0.726          1.200          2.75           0              180            0
  30  GarbageCan      2.257          -0.008         2.603          353.970        0              0
  31  Window          0.665          1.356          -1.911         90             0              0
  32  Drawer          2.119          0.576          -0.491         4.458          270            0
  33  Drawer          2.147          0.213          -0.491         4.458          270            0
  34  SideTable       2.226          0.013          -0.492         4.458          270            0
  35  Chair           0.170          0.011          -1.214         0              261.719        0
  36  Blinds          0.695          1.983          -1.867         0              0              0
  37  Drawer          -0.079         0.513          -0.394         0              90             0
  38  Drawer          -0.079         0.226          -0.394         0              90             0
  39  Desk            -0.391         0.001          -0.811         0              90             0
  40  Drawer          -0.079         0.762          -0.394         0              90             0
  41  NorthWall
  42  EastWall
  43  SouthWall
  44  WestWall

Plan:
STEP 1: Move across the room to the wood desk where the clock is | STEP 2: Pick up the clock towards the back on top of the desk | STEP 3: Carry the clock while adjusting to face the lamp on top of the desk | STEP 4: Turn on the lamp | END