Task: examine a cell phone with light from 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           -3.75          0.900          4.0            0              180            0
   1  Newspaper       -1.218         0.308          2.759          0              39.022         0              35
   2  Newspaper       -1.470         0.312          2.633          0              39.022         0              35
   3  CellPhone       -5.269         0.790          5.575          0              0              0              36
   4  CellPhone       -1.198         0.316          2.412          0              39.022         0              35
   5  CellPhone       0.541          0.554          6.905          0              0              0              33
   6  CreditCard      0.972          0.982          4.129          0              0              0              48
   7  CreditCard      -3.502         0.550          1.822          0              0              0              32
   8  RemoteControl   -2.010         0.534          3.238          0              38.001         0              44
   9  Box             -1.369         0.509          2.386          0              39.022         0              35
  10  Box             -5.516         0.982          4.689          0              90             0              36
  11  CellPhone       0.722          0.986          4.129          0              0              0              48
  12  WateringCan     0.829          -0.001         2.339          0              45             0              Floor|-03.10|
  13  Newspaper       0.636          0.550          6.469          0              0              0              33
  14  KeyChain        -2.184         0.522          3.687          0              38.001         0              44
  15  Plate           -5.807         0.781          4.222          0              0              0              36
  16  Pillow          -2.719         0.609          2.768          0              320.647        0              44
  17  RemoteControl   -6.009         0.788          5.575          0              0              0              36
  18  CreditCard      0.787          0.099          4.096          0              0              0              47
  19  Laptop          -5.464         0.779          5.252          0              306.871        0              36
  20  Statue          -5.762         0.792          5.353          0              0              0              36
  21  Curtains        -1.046         3.500          2.880          0              0              0
  22  HousePlant      -3.580         0.548          1.659          0              0              0
  23  Television      0.852          1.460          3.726          357.954        270            0
  24  Painting        -3.813         1.809          1.008          90             90             0
  25  DeskLamp        0.890          0.545          6.822          0              0              0
  26  GarbageCan      -7.102         -0.044         2.295          0              90             0
  27  FloorLamp       -3.494         0.006          0.390          0              0              0
  28  LightSwitch     -5.234         1.391          7.031          0              180            0
  29  Window          -1.985         1.646          -0.009         90             180            0
  30  Window          -4.909         0.990          2.015          90             180            0
  31  Window          -5.796         1.072          1.871          90             180            0
  32  SideTable       -3.407         0.005          1.656          0              270            0
  33  SideTable       0.732          0.005          6.634          0              270            0
  34  Chair           -0.139         0.005          6.412          0              149.999        0
  35  CoffeeTable     -1.546         0.004          2.528          0              39.022         0
  36  DiningTable     -5.639         -0.003         4.910          0              270            0
  37  Chair           -3.159         0.005          0.869          0              97.469         0
  38  Chair           -5.192         0.002          4.682          0              281.219        0
  39  Chair           -5.181         0.002          5.293          0              266.218        0
  40  Chair           -6.046         0.002          4.560          0              86.218         0
  41  Chair           -5.624         0.002          5.750          0              180            0
  42  Chair           -6.036         0.002          5.235          0              93.544         0
  43  Chair           -5.580         0.002          4.099          0              357.508        0
  44  Sofa            -2.465         0.004          3.281          0              128.001        0
  45  Drawer          0.748          0.237          3.330          0              270            0
  46  Drawer          0.748          0.668          3.330          0              270            0
  47  Drawer          0.748          0.235          4.097          0              270            0
  48  Dresser         0.846          0.002          3.713          0              270            0
  49  Drawer          0.748          0.665          4.097          0              270            0
  50  NorthWall
  51  EastWall
  52  SouthWall
  53  WestWall

Plan:
STEP 1: turn around to walk forward, turn right after couch, walk towards fireplace, turn right to face coffee table | STEP 2: pick up the phone that is on the coffee table | STEP 3: turn left, walk towards windows, turn right, walk towards the lamp | STEP 4: turn the lamp on | END