Task: take a phone to the lamp to examine it in the light

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          -1.25          0              270            0
   1  CD              0.845          0.692          -2.125         0              90             0              31
   2  CellPhone       -1.171         0.631          -1.023         0              0              0              22
   3  Pen             1.519          0.699          -1.916         0              18.354         0              31
   4  CreditCard      0.845          0.693          -1.985         0              90             0              31
   5  CreditCard      0.845          0.692          -2.266         0              90             0              31
   6  KeyChain        1.491          0.694          -1.605         0              18.354         0              31
   7  Pillow          -2.046         0.703          -1.023         0              0              0              22
   8  AlarmClock      1.610          0.695          -1.644         0              18.354         0              31
   9  Box             -0.015         0.239          -2.091         0              0              0
  10  Book            -2.046         0.629          -0.198         0              0              0              22
  11  BaseballBat     1.798          0.639          0.425          0              0              342.316
  12  Pen             1.456          0.479          -0.862         0              270            0              30
  13  Pencil          -0.506         0.094          0.503          0              0              0              35
  14  KeyChain        -0.413         0.663          0.470          0              180            0              34
  15  Pillow          -1.694         0.656          0.415          0              0              0              22
  16  CreditCard      -0.708         0.663          0.513          0              180            0              34
  17  CellPhone       0.064          0.693          -2.073         0              99.090         0              31
  18  Laptop          1.641          0.686          -1.011         0              270            0              31
  19  CD              1.628          0.047          -0.386         0              345.000        0              26
  20  Bowl            1.222          0.686          -2.128         0              0              0              31
  21  AlarmClock      -0.487         0.664          0.600          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 left, walk towards table, stand facing the table | STEP 2: pick up the phone that is on the table | STEP 3: turn right, move to the end of table in front of lamp | STEP 4: turn lamp on, hold phone up to the light from the lamp | END