Task: turn the lamp on on the desk while holding a cellphone

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           1.25           0.901          0.0            0              270            0
   1  CD              1.519          0.692          -1.916         0              18.354         0              39
   2  CD              -0.561         0.369          0.480          0              0              0              41
   3  CellPhone       -0.291         0.687          -2.316         0              90             0              39
   4  CellPhone       0.293          0.694          -2.336         0              90             0              39
   5  CellPhone       0.845          0.694          -1.985         0              90             0              39
   6  Pen             0.293          0.699          -2.055         0              90             0              39
   7  Pen             0.109          0.698          -2.196         0              90             0              39
   8  Pencil          -0.708         0.666          0.600          0              180            0              42
   9  Pencil          1.510          0.477          -0.715         0              270            0              38
  10  CreditCard      0.172          0.692          -2.306         0              99.090         0              39
  11  CreditCard      -0.397         0.090          0.549          0              0              0              43
  12  KeyChain        -0.397         0.369          0.480          0              90             0              41
  13  Book            -1.696         0.629          -1.297         0              0              0              30
  14  Book            -1.346         0.629          -1.297         0              0              0              30
  15  Laptop          -1.346         0.628          -1.023         0              0              0              30
  16  AlarmClock      0.075          0.695          -2.002         0              99.090         0              39
  17  Box             -0.015         0.239          -2.091         0              0              0
  18  Book            -0.413         0.661          0.600          0              180            0              42
  19  BaseballBat     1.798          0.639          0.425          0              0              342.316
  20  Pen             1.622          0.699          -1.241         0              0              0              39
  21  Pencil          -0.560         0.666          0.600          0              180            0              42
  22  KeyChain        1.492          0.473          -0.813         0              270            0              38
  23  Pillow          -1.871         0.703          -1.023         0              0              0              30
  24  CreditCard      -0.670         0.369          0.526          0              0              0              41
  25  CellPhone       -1.521         0.631          -0.473         0              0              0              30
  26  Laptop          -1.871         0.628          -0.473         0              0              0              30
  27  CD              -0.634         0.662          0.513          0              180            0              42
  28  Bowl            1.029          0.695          -2.125         0              90             0              39
  29  AlarmClock      -0.577         0.695          -1.980         0              90             0              39
  30  Bed             -1.696         0.004          -0.446         0              0              0
  31  Chair           0.956          -0.000         -1.747         0              110.225        0
  32  DeskLamp        -0.440         0.688          -2.276         0              0              0
  33  LightSwitch     0.625          1.338          0.734          0              180            0
  34  GarbageCan      1.660          -0.019         -0.389         0              345.008        0
  35  Mirror          1.300          1.422          0.765          0              0              0
  36  HousePlant      -0.867         0.000          -2.286         0              0              0
  37  Window          0.819          1.496          -2.553         90             180            0
  38  Shelf           1.616          0.561          -0.802         0              0              0
  39  Desk            0.617          -0.000         -1.511         0              0              0
  40  Blinds          0.796          2.217          -2.476         0              0              0
  41  Drawer          -0.558         0.456          0.462          0              180            0
  42  SideTable       -0.557         -0.000         0.529          0              180            0
  43  Drawer          -0.558         0.164          0.462          0              180            0
  44  Desktop         1.455          0.692          -1.886         358.180        309.674        0
  45  NorthWall
  46  EastWall
  47  SouthWall
  48  WestWall

Plan:
STEP 1: move forwards to the bed, then take a left and walk over to the desk | STEP 2: grab the phone off of the desk | STEP 3: move to the right a bit and face the desk again | STEP 4: turn on the lamp on the top right corner of the desk | END