A portal into 1950s New York City, Frank O’Hara’s “Lunch Poems” have the feel of playing hooky: of roaming from museums to Central Park and sneaking into cinemas. Choreographer Mark Morris, poets Terrance Hayes, Robert Pinsky, Todd Colby, and Eileen Myles, and musical duo Rachael and Vilray join host Elisa New to read “Steps,” O’Hara’s ode to NYC art and dance.