Task: Pick up a smartphone, turn 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           -0.5           0.901          0.25           0              270            0
   1  Mug             1.515          0.724          -0.256         0              270            0              61
   2  CD              -0.626         0.978          -1.322         0              0              0              52
   3  CD              -0.817         0.065          2.307          0              0              0              36
   4  CellPhone       1.905          0.728          0.482          0              270            0              61
   5  CellPhone       1.841          0.441          1.883          0              180            0              64
   6  Pen             1.612          0.732          -0.256         0              270            0              61
   7  Pen             -0.423         0.683          1.804          0              90             0              37
   8  Pencil          -0.668         0.982          -1.134         0              0              0              52
   9  CreditCard      -0.513         0.677          2.177          0              90             0              37
  10  CreditCard      1.502          0.521          -0.731         0              90             0              59
  11  KeyChain        -0.493         0.285          2.960          0              0              0              48
  12  KeyChain        1.756          0.437          1.326          0              180            0              64
  13  Laptop          -0.632         1.835          2.481          0              0              0              56
  14  AlarmClock      -0.603         0.678          2.364          0              90             0              37
  15  Book            1.905          0.730          -0.748         0              270            0              61
  16  Box             -0.493         0.2            -0.286         0              84.024         0
  17  TennisRacket    -1.345         0.288          0.233          30.000         270            180
  18  Pen             -0.961         0.683          2.177          0              90             0              37
  19  AlarmClock      -0.603         0.678          1.431          0              90             0              37
  20  Pillow          -0.596         1.585          -1.389         0              0              0              51
  21  Pillow          -0.596         1.585          -0.942         0              0              0              51
  22  CellPhone       -0.482         0.517          2.094          0              0              0              35
  23  KeyChain        -0.584         0.978          -1.416         0              0              0              52
  24  CreditCard      -0.961         0.677          1.991          0              90             0              37
  25  CD              1.608          0.106          -0.408         0              90             0              58
  26  Pencil          -0.584         0.982          -1.603         0              0              0              52
  27  Laptop          1.672          0.449          1.605          0              180            0              64
  28  Mug             -0.672         0.063          2.019          0              0              0              36
  29  DeskLamp        2.016          0.701          0.708          0              0              0
  30  Painting        2.199          1.771          -0.101         90             270            0
  31  GarbageCan      2.022          -0.037         -1.239         0              270            0
  32  Mirror          2.229          1.254          2.664          0              90             0
  33  LightSwitch     2.199          1.258          1.988          0              270            0
  34  Window          1.575          1.559          -1.953         90             180            0
  35  Drawer          -0.551         0.578          2.246          0              90             0
  36  Cabinet         -0.649         0.270          2.247          0              90             0
  37  Desk            -0.655         0.006          1.814          0              90             0
  38  Shelf           1.769          0.184          0.757          0              270            0
  39  Shelf           1.769          0.572          0.757          0              270            0
  40  Shelf           1.769          0.572          0.935          0              270            0
  41  Shelf           1.769          0.378          0.935          0              270            0
  42  Shelf           1.769          0.378          0.757          0              270            0
  43  Shelf           1.769          0.184          0.935          0              270            0
  44  Blinds          1.547          2.434          -1.886         0              0              0
  45  Drawer          -0.553         0.155          2.942          0              90             0
  46  Drawer          -0.553         0.572          2.942          0              90             0
  47  Dresser         -0.665         0.001          2.939          0              90             0
  48  Drawer          -0.553         0.376          2.942          0              90             0
  49  Chair           1.482          0.012          0.223          0              77.085         0
  50  Chair           -0.199         0.012          1.538          0              287.086        0
  51  Bed             -0.866         0.007          -0.919         0              0              0
  52  Dresser         -0.772         0.001          -1.313         0              90             0
  53  Drawer          -0.660         0.830          -1.309         0              90             0
  54  Drawer          -0.660         0.225          -1.309         0              90             0
  55  Drawer          -0.660         0.547          -1.309         0              90             0
  56  Bed             -0.872         1.637          2.188          0              0              0
  57  Drawer          1.685          0.160          -0.805         0              270            0
  58  Drawer          1.685          0.160          -0.378         0              270            0
  59  Drawer          1.685          0.547          -0.805         0              270            0
  60  Drawer          1.685          0.547          -0.378         0              270            0
  61  Desk            1.812          0.003          -0.014         0              270            0
  62  Drawer          1.685          0.354          -0.805         0              270            0
  63  Drawer          1.685          0.354          -0.378         0              270            0
  64  ArmChair        1.712          -0.000         1.532          0              270            0
  65  NorthWall
  66  EastWall
  67  SouthWall
  68  WestWall

Plan:
STEP 1: Make a right and walk across the room to the desk next to the floral couch. | STEP 2: Pick up the smartphone on the desk. | STEP 3: Turn to face the desk. | STEP 4: Turn on the lamp that is on the desk. | END