Task: With a phone in hand 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           2.25           0.916          1.25           0              90             0
   1  CreditCard      3.103          0.332          1.304          0              180            0              37
   2  RemoteControl   -2.739         0.564          0.981          0              270            0              50
   3  Book            0.116          0.902          1.073          0              29.999         0              55
   4  Box             -0.023         1.096          2.431          0              90             0              55
   5  Statue          -3.299         0.595          -0.49          0              0              0              45
   6  CreditCard      -0.113         0.906          1.217          0              0              0              55
   7  Laptop          -2.780         0.365          -1.874         0              0              0              32
   8  WateringCan     2.893          0.014          -1.916         0              328.832        0
   9  Newspaper       -2.739         0.569          2.012          0              270            0              50
  10  Vase            -2.168         1.195          -2.183         0              0              0
  11  CellPhone       0.067          0.910          2.188          0              0              0              55
  12  RemoteControl   0.158          0.910          2.431          0              0              0              55
  13  Vase            -1.046         1.195          -2.151         0              0              0
  14  Pillow          -2.812         0.623          1.600          0              270            0              50
  15  KeyChain        -0.204         0.909          1.946          0              0              0              55
  16  Cabinet         0.333          0.514          -2.015         0              0              0
  17  DeskLamp        3.143          0.591          1.457          0              270            0
  18  LightSwitch     -0.927         1.316          2.846          0              180            0
  19  HousePlant      0.491          0.874          -1.581         0              0              0
  20  Television      0.069          1.406          1.698          0              270            0
  21  GarbageCan      3.164          0.026          0.891          0              0              0
  22  Painting        -1.561         1.408          -2.318         90             180            0
  23  Painting        3.367          1.789          -0.949         90             270            0
  24  Painting        -3.488         1.386          -0.507         90             270            0
  25  FloorLamp       3.103          0.025          -2.341         0              135            0
  26  Window          1.133          1.218          -2.740         90             0              0
  27  Window          -3.368         1.180          -1.539         90             90             0
  28  Window          2.898          1.218          -2.740         90             0              0
  29  Window          2.006          1.218          -2.740         90             0              0
  30  Window          -0.193         1.157          -2.563         90             0              0
  31  Window          -2.970         1.157          -2.563         90             0              0
  32  ArmChair        -2.859         0.026          -2.036         0              29.994         0
  33  SideTable       -0.170         0.027          -2.279         0              0              0
  34  Drawer          -0.173         0.465          -2.135         0              0              0
  35  Drawer          3.104          0.167          1.400          0              270            0
  36  SideTable       3.163          0.032          1.400          0              270            0
  37  Drawer          3.103          0.418          1.401          0              270            0
  38  SideTable       3.163          0.032          0.364          0              270            0
  39  Drawer          -3.241         0.418          -0.490         0              90             0
  40  Drawer          3.104          0.167          -0.574         0              270            0
  41  SideTable       3.163          0.032          -0.574         0              270            0
  42  Drawer          3.104          0.167          0.364          0              270            0
  43  Drawer          3.104          0.419          -0.574         0              270            0
  44  Drawer          -3.241         0.167          -0.489         0              90             0
  45  SideTable       -3.300         0.032          -0.489         0              90             0
  46  Drawer          3.104          0.419          0.364          0              270            0
  47  Chair           1.049          0.031          -2.190         0              29.997         0
  48  DogBed          2.739          0.032          2.260          0              45             0
  49  Chair           2.037          0.031          -2.232         0              350.485        0
  50  Sofa            -2.957         0.032          1.393          0              90             0
  51  Drawer          -0.189         0.232          0.954          0              270            0
  52  Drawer          -0.415         0.854          1.921          0              270            0
  53  Drawer          -0.415         0.351          1.414          0              270            0
  54  Drawer          -0.415         0.603          1.414          0              270            0
  55  Dresser         -0.052         0.028          1.667          0              270            0
  56  Drawer          -0.190         0.484          0.954          0              270            0
  57  Drawer          -0.190         0.736          0.954          0              270            0
  58  Drawer          -0.415         0.603          1.921          0              270            0
  59  Drawer          -0.415         0.603          2.384          0              270            0
  60  Drawer          -0.415         0.351          2.384          0              270            0
  61  Drawer          -0.415         0.854          2.384          0              270            0
  62  Drawer          -0.415         0.351          1.921          0              270            0
  63  Drawer          -0.415         0.854          1.414          0              270            0
  64  Stool           3.135          0.029          -1.625         0              330.001        0
  65  Chair           1.631          0.029          2.210          0              161.562        0
  66  NorthWall
  67  EastWall
  68  SouthWall
  69  WestWall

Plan:
STEP 1: Turn right, walk straight, before you reach the chairs, turn right, walk straight, turn right to face the door, walk straight, turn right to face the table. | STEP 2: Pick up the phone from the table. | STEP 3: Turn right, walk straight toward the fireplace, before you reach the fireplace, turn left, walk straight to the small stand, turn right and walk to the lamp. | STEP 4: With the phone in hand, turn on the lamp. | END