Task: turn on a lamp while holding a bowl

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          0.900          2.0            0              180            0
   1  Mug             -1.918         0.876          0.749          0              0              0              49
   2  CD              -0.483         0.857          -1.183         0              0              0              39
   3  CD              -0.586         0.648          -0.932         0              0              0              37
   4  CellPhone       -1.834         1.724          0.448          0              0              0              43
   5  CellPhone       -1.914         0.105          0.721          0              0              0              52
   6  Pen             -0.511         0.654          -0.692         0              0              0              37
   7  Pen             -1.918         0.884          0.414          0              0              0              42
   8  Pencil          -1.728         0.886          0.448          0              0              0              42
   9  Pencil          -1.179         1.727          0.448          0              0              0              43
  10  CreditCard      -1.939         1.723          0.530          0              0              0              41
  11  KeyChain        -2.292         0.039          2.576          0              180            0              54
  12  KeyChain        -2.240         0.039          2.682          0              180            0              54
  13  Book            -0.511         0.364          -0.933         0              0              0              38
  14  Pillow          1.612          0.918          1.655          0              0              0              30
  15  Laptop          1.409          0.781          1.076          0              0              0              30
  16  Book            1.206          0.783          0.787          0              0              0              30
  17  AlarmClock      -0.819         0.858          -1.356         0              0              0              39
  18  BasketBall      1.976          0.120          0.211          0              331.076        0
  19  Pen             -1.571         0.884          0.832          0              0              0              49
  20  Laptop          1.206          0.781          1.655          0              0              0              30
  21  BaseballBat     1.953          0.659          -1.81          346.388        0              0
  22  Bowl            -0.819         0.861          -1.010         0              0              0              39
  23  Pillow          1.003          0.918          1.076          0              0              0              30
  24  KeyChain        -1.571         0.879          0.665          0              0              0              49
  25  CreditCard      -2.315         0.668          0.758          0              0              0              50
  26  CellPhone       1.003          0.784          0.787          0              0              0              30
  27  CD              -0.672         0.202          -0.338         0              0              0              32
  28  Pencil          -2.155         0.390          0.683          0              0              0              51
  29  Mug             -2.045         1.347          0.489          0              0              0              49
  30  Bed             1.227          -0.002         1.664          0              0              0
  31  LightSwitch     2.151          1.233          -0.518         0              270            0
  32  GarbageCan      -0.747         0.014          -0.327         0              0              0
  33  Mirror          -1.358         1.427          2.855          0              0              0
  34  DeskLamp        -2.296         0.858          0.750          0              0              0
  35  Window          -0.421         1.534          -1.947         90             0              0
  36  Window          0.579          1.534          -1.947         90             0              0
  37  Drawer          -0.491         0.739          -0.855         0              90             0
  38  Drawer          -0.491         0.204          -0.855         0              90             0
  39  Desk            -0.639         0.009          -1.187         0              90             0
  40  Drawer          -0.491         0.487          -0.855         0              90             0
  41  Shelf           -1.965         1.514          0.416          0              0              0
  42  Shelf           -1.965         1.092          0.416          0              0              0
  43  Shelf           -1.312         1.888          0.416          0              0              0
  44  Shelf           -1.965         1.888          0.416          0              0              0
  45  Shelf           -1.312         1.092          0.416          0              0              0
  46  Shelf           -1.312         1.514          0.416          0              0              0
  47  Blinds          0.601          2.161          -1.916         0              0              0
  48  Blinds          -0.402         2.161          -1.916         0              0              0
  49  Desk            -1.726         0.001          0.575          0              0              0
  50  Drawer          -2.058         0.733          0.734          0              0              0
  51  Drawer          -2.058         0.482          0.734          0              0              0
  52  Drawer          -2.058         0.198          0.735          0              0              0
  53  Chair           -0.137         0.000          -1.587         0              315            0
  54  Safe            -2.183         -7.748         2.576          0              180            0
  55  Chair           -1.433         0.009          0.780          357.672        206.726        0
  56  LaundryHamper   0.163          0.003          2.635          0              86.390         0
  57  NorthWall
  58  EastWall
  59  SouthWall
  60  WestWall

Plan:
STEP 1: walk to the end of the room ahead, and then turn right to face the desk | STEP 2: grab the clear bowl off of the table | STEP 3: turn right and walk to the near end of the room, then turn left to walk over to the right side of the desk on the left | STEP 4: turn the lamp on on the right side of the desk | END