Task: examine a phone with 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           -4.75          0.901          2.0            0              0              0
   1  TissueBox       -0.312         0.075          1.102          0              270            0              40
   2  TissueBox       -3.543         1.112          4.786          0              90             0              55
   3  Newspaper       -4.809         0.210          4.523          0              90             0              58
   4  Newspaper       -0.870         0.628          2.753          0              0              0              59
   5  CellPhone       -2.191         0.034          0.369          0              90             0              38
   6  Statue          -0.265         1.107          1.192          0              270            0              46
   7  Statue          -3.863         1.113          4.589          0              90             0              55
   8  RemoteControl   -2.901         1.110          4.786          0              90             0              55
   9  RemoteControl   -0.787         0.611          1.960          0              0              0              59
  10  Box             -4.085         0.421          4.589          0              0              0              52
  11  Box             -3.543         1.329          4.490          0              90             0              55
  12  Watch           -3.863         1.108          4.391          0              90             0              51
  13  Pillow          -2.031         0.668          4.421          0              0              0              49
  14  TissueBox       -4.605         0.205          4.395          0              90             0              52
  15  Newspaper       -3.222         1.117          4.391          0              90             0              55
  16  CreditCard      -4.514         1.038          0.504          0              0              0              37
  17  KeyChain        -1.002         0.593          0.112          0              0              0              45
  18  CellPhone       -4.826         1.108          4.292          0              90             0              56
  19  Statue          -5.534         1.044          0.438          0              0              0              37
  20  Laptop          -4.184         1.109          4.588          0              90             0              55
  21  RemoteControl   -3.222         1.110          4.885          0              90             0              55
  22  Vase            -3.570         0.207          4.331          0              90             0              53
  23  DeskLamp        -4.649         1.051          0.268          0              0              0
  24  DeskLamp        -2.992         1.107          4.522          0              0              0
  25  FloorLamp       -0.650         0.007          4.431          0              0              0
  26  FloorLamp       -5.607         0.007          4.641          0              0              0
  27  Shelf           -5.237         1.776          0.070          0              0              0
  28  Shelf           -5.238         1.968          0.085          0              0              0
  29  Shelf           -5.242         1.391          0.086          0              0              0
  30  Shelf           -5.241         1.582          0.065          0              0              0
  31  LightSwitch     -6.002         1.353          3.404          0              90             0
  32  GarbageCan      -5.794         -0.033         4.073          0              90             0
  33  Painting        -6.017         1.802          4.177          90             270            0
  34  HousePlant      -3.966         1.625          0.135          0              315            0
  35  Television      -3.355         0.833          0.027          0              0              0
  36  Drawer          -5.024         0.903          0.370          0              0              0
  37  SideTable       -5.024         0.008          0.267          0              0              0
  38  Safe            -2.298         5.778          0.268          0              90             0
  39  Shelf           -0.253         0.781          1.058          0              270            0
  40  Shelf           -0.283         0.274          1.066          0              270            0
  41  Shelf           -1.224         1.288          0.270          0              0              0
  42  Shelf           -1.218         1.810          0.275          0              0              0
  43  Shelf           -0.280         1.810          1.057          0              270            0
  44  Shelf           -1.218         0.274          0.262          0              0              0
  45  Shelf           -1.223         0.782          0.237          0              0              0
  46  Shelf           -0.280         1.288          1.055          0              270            0
  47  ShelvingUnit    -0.268         0.004          1.067          0              270            0
  48  ShelvingUnit    -1.218         0.004          0.244          0              0              0
  49  ArmChair        -2.027         0.001          4.422          0              178.692        0
  50  Drawer          -4.329         1.014          4.311          0              180            0
  51  Drawer          -3.750         1.014          4.311          0              180            0
  52  Cabinet         -4.049         0.561          4.212          0              180            0
  53  Cabinet         -4.032         0.561          4.212          0              180            0
  54  Cabinet         -2.884         0.561          4.212          0              180            0
  55  Dresser         -4.041         -0.000         4.589          0              180            0
  56  Drawer          -4.916         1.014          4.311          0              180            0
  57  Drawer          -3.166         1.014          4.311          0              180            0
  58  Cabinet         -5.196         0.561          4.212          0              180            0
  59  Sofa            -0.705         -0.002         2.753          0              270            0
  60  NorthWall
  61  SouthWall
  62  SouthWall

Plan:
STEP 1: walk forward to the dresser | STEP 2: pick up the phone that is on the dresser | STEP 3: take a couple step to the left to face lamp, hold phone up | STEP 4: turn the lamp on | END