Task: Turn on a lamp while carrying a phone

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -2.75          0.907          5.75           0              0              0
   1  TissueBox       -4.842         0.756          -0.008         0              0              0              46
   2  TissueBox       -4.477         0.756          -0.502         0              0              0              52
   3  Watch           -4.477         0.754          -0.131         0              0              0              52
   4  Vase            0.147          0.554          2.905          0              0              0              37
   5  Pencil          0.492          0.555          2.605          0              0              0              37
   6  KeyChain        -1.320         0.450          3.268          0              0              0              53
   7  CellPhone       0.492          0.552          2.304          0              0              0              37
   8  CellPhone       0.405          0.552          2.755          0              0              0              37
   9  RemoteControl   -1.320         0.452          2.322          0              0              0              53
  10  RemoteControl   0.628          0.434          5.171          0              0              0              45
  11  Book            -4.842         0.755          -0.626         0              0              0              48
  12  Box             0.957          0.286          6.189          0              327.955        0              45
  13  Pillow          0.438          0.581          5.162          321.968        0              0              45
  14  Bowl            -1.340         0.882          0.140          0              90             0              54
  15  WateringCan     -0.816         0.005          0.189          0              0              0
  16  TissueBox       0.233          0.553          2.153          0              0              0              37
  17  Newspaper       0.424          0.418          4.301          0              18.749         0              44
  18  CreditCard      0.709          0.424          4.184          0              90             0              44
  19  KeyChain        -1.132         0.880          0.101          0              90             0              54
  20  Boots           -6.309         0.006          1.252          0              92.842         0
  21  Pencil          0.405          0.555          2.905          0              0              0              37
  22  Laptop          -1.437         0.448          2.086          0              0              0              53
  23  Vase            -3.747         0.757          -0.008         0              0              0              52
  24  RemoteControl   -4.112         0.757          -0.379         0              0              0              52
  25  Watch           0.650          0.198          2.734          0              0              0              38
  26  CellPhone       0.664          0.552          2.153          0              0              0              37
  27  Plate           -4.044         0.748          -0.078         0              0              0              51
  28  Painting        -6.5           1.759          -0.341         0              0              0
  29  Painting        0.704          1.778          0.782          0              0              0
  30  Television      1.5            1.690          2.562          0              270            0
  31  FloorLamp       1.111          0.007          6.805          0              0              0
  32  GarbageCan      -6.128         -0.003         2.800          0              0              0
  33  LightSwitch     -6.5           1.498          1.345          0              90             0
  34  HousePlant      -0.753         0.874          0.209          0              0              0
  35  Window          1.496          1.712          4.454          90             90             0
  36  Window          -4.210         1.577          -1.980         90             180            0
  37  CoffeeTable     0.405          0.008          2.605          0              270            0
  38  Drawer          0.597          0.234          2.604          0              270            0
  39  Drawer          0.214          0.393          2.604          0              270            0
  40  Drawer          0.214          0.234          2.609          0              270            0
  41  Drawer          0.214          0.075          2.604          0              270            0
  42  Drawer          0.597          0.075          2.604          0              270            0
  43  Drawer          0.597          0.393          2.604          0              270            0
  44  Ottoman         0.493          0.006          4.309          0              0              0
  45  ArmChair        0.420          0.014          5.129          0              180            0
  46  Chair           -4.664         0.008          0.164          0              180            0
  47  Chair           -3.424         0.008          -0.321         0              270            0
  48  Chair           -4.988         0.008          -0.401         0              90             0
  49  Chair           -3.904         0.008          -0.827         0              0              0
  50  Chair           -4.570         0.008          -0.831         0              0              0
  51  Chair           -3.996         0.008          0.091          0              180            0
  52  DiningTable     -4.295         0.006          -0.378         0              0              0
  53  Sofa            -1.527         0.013          2.559          0              90             0
  54  SideTable       -1.030         0.006          0.160          0              0              0
  55  Drawer          -1.030         0.780          0.225          0              0              0
  56  NorthWall
  57  EastWall
  58  SouthWall
  59  WestWall

Plan:
STEP 1: Move across the room to the wood coffee table | STEP 2: Pick up the phone on the table | STEP 3: Carry the phone to the lamp in the corner of the room | STEP 4: Turn on the lamp | END