Task: Take the cell phone from the desk, turn on the lamp

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.75           0.901          0.0            0              180            0
   1  CD              -1.881         0.675          1.206          0              0              0              42
   2  CD              1.716          0.049          1.706          0              270            0              29
   3  CellPhone       -0.344         0.541          -0.408         0              0              0              26
   4  CellPhone       -1.563         0.642          0.448          0              180            0              42
   5  CellPhone       1.408          0.712          0.215          0              270            0              45
   6  Pen             1.769          0.717          0.409          0              270            0              45
   7  KeyChain        1.228          0.711          0.602          0              270            0              45
   8  Book            -1.301         0.540          -0.830         0              0              0              26
   9  Book            1.408          0.711          0.990          0              270            0              45
  10  AlarmClock      -1.749         0.673          1.206          0              0              0              42
  11  AlarmClock      -1.815         0.675          0.919          0              0              0              42
  12  Book            -0.823         0.540          -0.408         0              0              0              26
  13  AlarmClock      0.930          0.684          -1.789         0              0              0              34
  14  BasketBall      1.510          0.120          -0.105         0              0              0
  15  TeddyBear       -1.7           0.475          -0.331         0              225            0              26
  16  TennisRacket    1.551          0.000          0.654          270            336.082        0
  17  Pen             -1.681         0.071          1.515          0              270            0              39
  18  Pencil          1.498          0.715          -0.171         0              270            0              45
  19  KeyChain        -1.762         0.640          0.448          0              0              0              42
  20  CreditCard      1.228          0.711          0.022          0              270            0              45
  21  Laptop          -1.786         0.634          0.206          0              159.517        0              42
  22  CellPhone       -0.344         0.541          -0.267         0              0              0              26
  23  Pillow          -1.757         0.569          -0.768         0              285.000        0              26
  24  CD              -1.617         0.672          1.636          0              0              0              42
  25  Curtains        1.865          2.039          -0.495         0              0              0
  26  Bed             -1.037         0.009          -0.690         0              270            0
  27  Mirror          0.549          1.494          1.880          0              0              0
  28  Curtains        0.486          2.035          -1.853         0              90             0
  29  GarbageCan      1.683          -0.018         1.670          0              270            0
  30  LightSwitch     -0.119         1.317          1.853          0              180            0
  31  DeskLamp        -1.845         1.057          0.756          0              0              0
  32  Window          1.932          1.409          -0.507         90             270            0
  33  Window          0.481          1.411          -1.932         90             0              0
  34  SideTable       0.626          0.0            -1.705         0              0              0
  35  Footstool       0.176          0.006          -0.358         0              0              0
  36  Dumbbell        1.596          0.715          0.772          0              0              0
  37  Dumbbell        1.776          0.717          0.772          0              0              0
  38  Shelf           -1.700         0.573          1.540          0              90             0
  39  Shelf           -1.700         0.156          1.540          0              90             0
  40  Shelf           -1.700         0.377          1.540          0              90             0
  41  Shelf           -1.839         1.084          1.235          0              90             0
  42  Desk            -1.722         0.003          0.920          0              90             0
  43  Footstool       0.175          0.004          -0.652         0              0              0
  44  GarbageBag      1.624          0.319          -1.609         270            90             83.418
  45  Desk            1.519          1.823          0.385          0              270            0
  46  Chair           -1.459         0.003          0.929          0              292.527        0
  47  NorthWall
  48  EastWall
  49  WestWall

Plan:
STEP 1: turn around, take a left | STEP 2: head across the room to the desk | STEP 3: take the white cell phone from the desk | STEP 4: turn on the lamp | END