Task: Turn a lamp on with a phone in hand.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.25          0.901          -0.75          0              0              0
   1  Bowl            -0.362         0.694          -2.064         0              90             0              31
   2  CellPhone       1.401          0.693          -1.877         0              18.354         0              31
   3  CellPhone       1.497          0.693          -1.576         0              0              0              31
   4  CellPhone       -0.291         0.687          -2.316         0              90             0              31
   5  Pen             0.661          0.699          -2.336         0              90             0              31
   6  Pen             1.545          0.479          -0.911         0              270            0              30
   7  CreditCard      -0.487         0.663          0.643          0              180            0              34
   8  CreditCard      -0.397         0.090          0.457          0              0              0              35
   9  Box             -0.015         0.239          -2.091         0              0              0
  10  Book            -1.346         0.629          0.076          0              0              0              22
  11  BaseballBat     1.798          0.639          0.425          0              0              342.316
  12  Pen             -0.413         0.668          0.470          0              180            0              34
  13  Pencil          1.029          0.697          -2.336         0              90             0              31
  14  KeyChain        1.747          0.693          -1.409         0              0              0              31
  15  Pillow          -1.871         0.703          -0.473         0              0              0              22
  16  CreditCard      -0.577         0.692          -2.400         0              90             0              31
  17  CellPhone       0.661          0.694          -2.055         0              90             0              31
  18  Laptop          -1.346         0.628          -0.748         0              0              0              22
  19  CD              1.492          0.473          -0.715         0              270            0              30
  20  Bowl            1.222          0.686          -2.128         0              0              0              31
  21  AlarmClock      -0.716         0.657          0.570          0              180            0              34
  22  Bed             -1.696         0.004          -0.446         0              0              0
  23  Chair           0.956          -0.000         -1.747         0              110.225        0
  24  DeskLamp        -0.440         0.688          -2.276         0              0              0
  25  LightSwitch     0.625          1.338          0.734          0              180            0
  26  GarbageCan      1.660          -0.019         -0.389         0              345.008        0
  27  Mirror          1.300          1.422          0.765          0              0              0
  28  HousePlant      -0.867         0.000          -2.286         0              0              0
  29  Window          0.819          1.496          -2.553         90             180            0
  30  Shelf           1.616          0.561          -0.802         0              0              0
  31  Desk            0.617          -0.000         -1.511         0              0              0
  32  Blinds          0.796          2.217          -2.476         0              0              0
  33  Drawer          -0.558         0.456          0.462          0              180            0
  34  SideTable       -0.557         -0.000         0.529          0              180            0
  35  Drawer          -0.558         0.164          0.462          0              180            0
  36  Desktop         1.455          0.692          -1.886         358.180        309.674        0
  37  NorthWall
  38  EastWall
  39  SouthWall
  40  WestWall

Plan:
STEP 1: Turn around and face the table near the phone. | STEP 2: Pick the phone up from the table. | STEP 3: Move to the right and stand in front of the lamp on the right side of the table. | STEP 4: Turn the lamp on the table on. | END