Task: place a carton with a phone in it on the cupboard

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -2.5           0.916          -1.25          0              270            0
   1  Newspaper       -0.204         0.916          1.946          0              0              0              63
   2  CellPhone       -0.295         0.906          0.974          0              0              0              63
   3  CellPhone       -0.096         0.161          1.997          0              0              0              70
   4  CellPhone       -0.204         0.906          2.188          0              0              0              63
   5  CreditCard      3.082          0.589          0.166          0              180            0              46
   6  CreditCard      -3.031         0.545          1.806          0              270            0              58
   7  RemoteControl   -0.295         0.910          1.217          0              0              0              63
   8  RemoteControl   -0.096         0.663          1.997          0              0              0              60
   9  Box             0.067          1.100          2.431          0              0              0              63
  10  Laptop          -2.885         0.561          1.806          0              270            0              58
  11  Book            0.116          0.902          1.073          0              29.999         0              63
  12  Box             -2.958         0.754          1.187          0              270            0              58
  13  Statue          3.160          0.597          -0.706         0              180            0              49
  14  CreditCard      -2.885         0.563          0.981          0              270            0              58
  15  Laptop          -2.780         0.365          -1.874         0              0              0              40
  16  WateringCan     2.893          0.014          -1.916         0              328.832        0
  17  Newspaper       -0.145         0.417          0.989          0              0              0              64
  18  Vase            -2.168         1.195          -2.183         0              0              0
  19  CellPhone       0.067          0.910          2.188          0              0              0              63
  20  RemoteControl   -0.096         0.413          2.366          0              0              0              67
  21  Vase            -1.046         1.195          -2.151         0              0              0
  22  Pillow          -2.893         0.616          0.818          0              0              0              58
  23  KeyChain        0.249          0.906          2.431          0              0              0              63
  24  Cabinet         0.333          0.514          -2.015         0              0              0
  25  DeskLamp        3.143          0.591          1.457          0              270            0
  26  LightSwitch     -0.927         1.316          2.846          0              180            0
  27  HousePlant      0.491          0.874          -1.581         0              0              0
  28  Television      0.069          1.406          1.698          0              270            0
  29  GarbageCan      3.164          0.026          0.891          0              0              0
  30  Painting        -1.561         1.408          -2.318         90             180            0
  31  Painting        3.367          1.789          -0.949         90             270            0
  32  Painting        -3.488         1.386          -0.507         90             270            0
  33  FloorLamp       3.103          0.025          -2.341         0              135            0
  34  Window          1.133          1.218          -2.740         90             0              0
  35  Window          -3.368         1.180          -1.539         90             90             0
  36  Window          2.898          1.218          -2.740         90             0              0
  37  Window          2.006          1.218          -2.740         90             0              0
  38  Window          -0.193         1.157          -2.563         90             0              0
  39  Window          -2.970         1.157          -2.563         90             0              0
  40  ArmChair        -2.859         0.026          -2.036         0              29.994         0
  41  SideTable       -0.170         0.027          -2.279         0              0              0
  42  Drawer          -0.173         0.465          -2.135         0              0              0
  43  Drawer          3.104          0.167          1.400          0              270            0
  44  SideTable       3.163          0.032          1.400          0              270            0
  45  Drawer          3.103          0.418          1.401          0              270            0
  46  SideTable       3.163          0.032          0.364          0              270            0
  47  Drawer          -3.241         0.418          -0.490         0              90             0
  48  Drawer          3.104          0.167          -0.574         0              270            0
  49  SideTable       3.163          0.032          -0.574         0              270            0
  50  Drawer          3.104          0.167          0.364          0              270            0
  51  Drawer          3.104          0.419          -0.574         0              270            0
  52  Drawer          -3.241         0.167          -0.489         0              90             0
  53  SideTable       -3.300         0.032          -0.489         0              90             0
  54  Drawer          3.104          0.419          0.364          0              270            0
  55  Chair           1.049          0.031          -2.190         0              29.997         0
  56  DogBed          2.739          0.032          2.260          0              45             0
  57  Chair           2.037          0.031          -2.232         0              350.485        0
  58  Sofa            -2.957         0.032          1.393          0              90             0
  59  Drawer          -0.189         0.232          0.954          0              270            0
  60  Drawer          -0.415         0.854          1.921          0              270            0
  61  Drawer          -0.415         0.351          1.414          0              270            0
  62  Drawer          -0.415         0.603          1.414          0              270            0
  63  Dresser         -0.052         0.028          1.667          0              270            0
  64  Drawer          -0.190         0.484          0.954          0              270            0
  65  Drawer          -0.190         0.736          0.954          0              270            0
  66  Drawer          -0.415         0.603          1.921          0              270            0
  67  Drawer          -0.415         0.603          2.384          0              270            0
  68  Drawer          -0.415         0.351          2.384          0              270            0
  69  Drawer          -0.415         0.854          2.384          0              270            0
  70  Drawer          -0.415         0.351          1.921          0              270            0
  71  Drawer          -0.415         0.854          1.414          0              270            0
  72  Stool           3.135          0.029          -1.625         0              330.001        0
  73  Chair           1.631          0.029          2.210          0              161.562        0
  74  NorthWall
  75  EastWall
  76  SouthWall
  77  WestWall

Plan:
STEP 1: move right to the tv table | STEP 2: pick up the phone | STEP 3: turn around to the sofa | STEP 4: drop the phone in the carton on the sofa | STEP 5: pick up the carton from the sofa | STEP 6: turn left to the cupboard by the left | STEP 7: place the carton on the cupboard | END