Task: Hold a phone and turn on the lamp.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.75           0.901          -1.25          0              270            0
   1  Mug             -0.872         0.675          2.364          0              90             0              35
   2  Mug             -0.527         0.063          2.019          0              0              0              34
   3  CD              -0.703         0.094          -1.320         0              0              0              52
   4  CellPhone       1.502          0.434          1.883          0              180            0              62
   5  Pen             -0.584         0.984          -1.228         0              0              0              50
   6  Pen             -0.589         0.070          3.043          0              0              0              43
   7  Pencil          -0.589         0.288          3.126          0              0              0              46
   8  KeyChain        1.502          0.106          -0.685         0              180            0              55
   9  KeyChain        1.710          0.726          -0.502         0              270            0              59
  10  Book            -0.692         0.681          1.991          0              90             0              35
  11  Book            -0.731         1.504          -1.166         0              0              0              49
  12  Laptop          -0.603         0.675          1.245          0              180            0              35
  13  Book            -0.761         0.672          3.162          0              90             0              45
  14  Box             -0.493         0.2            -0.286         0              84.024         0
  15  TennisRacket    -1.345         0.288          0.233          30.000         270            180
  16  Pen             -0.692         0.683          1.431          0              90             0              35
  17  AlarmClock      1.612          0.727          0.728          0              270            0              59
  18  Pillow          -0.596         1.585          -0.719         0              0              0              49
  19  Pillow          -0.829         1.549          -1.533         0              0              0              49
  20  CellPhone       1.417          0.434          1.697          0              180            0              62
  21  KeyChain        1.756          0.435          1.790          0              180            0              62
  22  CreditCard      -0.855         0.669          2.815          0              90             0              45
  23  CD              2.003          0.726          0.236          0              270            0              59
  24  Pencil          -0.655         0.099          -1.154         0              0              0              53
  25  Laptop          1.672          0.449          1.605          0              180            0              62
  26  Mug             -0.817         0.063          2.307          0              0              0              34
  27  DeskLamp        2.016          0.701          0.708          0              0              0
  28  Painting        2.199          1.771          -0.101         90             270            0
  29  GarbageCan      2.022          -0.037         -1.239         0              270            0
  30  Mirror          2.229          1.254          2.664          0              90             0
  31  LightSwitch     2.199          1.258          1.988          0              270            0
  32  Window          1.575          1.559          -1.953         90             180            0
  33  Drawer          -0.551         0.578          2.246          0              90             0
  34  Cabinet         -0.649         0.270          2.247          0              90             0
  35  Desk            -0.655         0.006          1.814          0              90             0
  36  Shelf           1.769          0.184          0.757          0              270            0
  37  Shelf           1.769          0.572          0.757          0              270            0
  38  Shelf           1.769          0.572          0.935          0              270            0
  39  Shelf           1.769          0.378          0.935          0              270            0
  40  Shelf           1.769          0.378          0.757          0              270            0
  41  Shelf           1.769          0.184          0.935          0              270            0
  42  Blinds          1.547          2.434          -1.886         0              0              0
  43  Drawer          -0.553         0.155          2.942          0              90             0
  44  Drawer          -0.553         0.572          2.942          0              90             0
  45  Dresser         -0.665         0.001          2.939          0              90             0
  46  Drawer          -0.553         0.376          2.942          0              90             0
  47  Chair           1.482          0.012          0.223          0              77.085         0
  48  Chair           -0.199         0.012          1.538          0              287.086        0
  49  Bed             -0.866         0.007          -0.919         0              0              0
  50  Dresser         -0.772         0.001          -1.313         0              90             0
  51  Drawer          -0.660         0.830          -1.309         0              90             0
  52  Drawer          -0.660         0.225          -1.309         0              90             0
  53  Drawer          -0.660         0.547          -1.309         0              90             0
  54  Bed             -0.872         1.637          2.188          0              0              0
  55  Drawer          1.685          0.160          -0.805         0              270            0
  56  Drawer          1.685          0.160          -0.378         0              270            0
  57  Drawer          1.685          0.547          -0.805         0              270            0
  58  Drawer          1.685          0.547          -0.378         0              270            0
  59  Desk            1.812          0.003          -0.014         0              270            0
  60  Drawer          1.685          0.354          -0.805         0              270            0
  61  Drawer          1.685          0.354          -0.378         0              270            0
  62  ArmChair        1.712          -0.000         1.532          0              270            0
  63  NorthWall
  64  EastWall
  65  SouthWall
  66  WestWall

Plan:
STEP 1: Turn to the right and move across the room. Turn right to face the flowered chair. | STEP 2: Pick up the cell phone from the front of the chair. | STEP 3: Hold the cell phone and turn to the right and face the desk on the left in front of the clock. | STEP 4: Hold the cell phone and turn on the lamp. | END