Task: Carry a phone while turning on 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           -7.0           0.900          5.25           0              90             0
   1  Newspaper       0.847          0.982          4.337          0              0              0              46
   2  CellPhone       0.909          0.986          3.090          0              0              0              46
   3  CellPhone       -2.244         0.528          3.107          0              38.001         0              42
   4  CreditCard      -3.407         0.549          1.560          0              0              0              30
   5  CreditCard      0.753          0.538          3.571          0              0              0              44
   6  RemoteControl   -2.010         0.534          3.238          0              38.001         0              42
   7  RemoteControl   -1.460         0.310          2.459          0              39.022         0              33
   8  Box             -5.885         0.977          4.689          0              0              0              34
   9  CellPhone       -5.392         0.790          4.910          0              0              0              34
  10  WateringCan     0.829          -0.001         2.339          0              45             0              Floor|-03.10|
  11  Newspaper       -3.216         0.550          1.560          0              0              0              30
  12  KeyChain        -5.269         0.787          4.467          0              0              0              34
  13  Plate           -1.390         0.312          2.733          0              39.022         0              33
  14  Pillow          -2.719         0.609          2.768          0              320.647        0              42
  15  RemoteControl   0.753          0.100          4.013          0              0              0              45
  16  CreditCard      0.972          0.982          3.921          0              0              0              46
  17  Laptop          -5.464         0.779          5.252          0              306.871        0              34
  18  Statue          -5.885         0.796          4.910          0              0              0              34
  19  Curtains        -1.046         3.500          2.880          0              0              0
  20  HousePlant      -3.580         0.548          1.659          0              0              0
  21  Television      0.852          1.460          3.726          357.954        270            0
  22  Painting        -3.813         1.809          1.008          90             90             0
  23  DeskLamp        0.890          0.545          6.822          0              0              0
  24  GarbageCan      -7.102         -0.044         2.295          0              90             0
  25  FloorLamp       -3.494         0.006          0.390          0              0              0
  26  LightSwitch     -5.234         1.391          7.031          0              180            0
  27  Window          -1.985         1.646          -0.009         90             180            0
  28  Window          -4.909         0.990          2.015          90             180            0
  29  Window          -5.796         1.072          1.871          90             180            0
  30  SideTable       -3.407         0.005          1.656          0              270            0
  31  SideTable       0.732          0.005          6.634          0              270            0
  32  Chair           -0.139         0.005          6.412          0              149.999        0
  33  CoffeeTable     -1.546         0.004          2.528          0              39.022         0
  34  DiningTable     -5.639         -0.003         4.910          0              270            0
  35  Chair           -3.159         0.005          0.869          0              97.469         0
  36  Chair           -5.192         0.002          4.682          0              281.219        0
  37  Chair           -5.181         0.002          5.293          0              266.218        0
  38  Chair           -6.046         0.002          4.560          0              86.218         0
  39  Chair           -5.624         0.002          5.750          0              180            0
  40  Chair           -6.036         0.002          5.235          0              93.544         0
  41  Chair           -5.580         0.002          4.099          0              357.508        0
  42  Sofa            -2.465         0.004          3.281          0              128.001        0
  43  Drawer          0.748          0.237          3.330          0              270            0
  44  Drawer          0.748          0.668          3.330          0              270            0
  45  Drawer          0.748          0.235          4.097          0              270            0
  46  Dresser         0.846          0.002          3.713          0              270            0
  47  Drawer          0.748          0.665          4.097          0              270            0
  48  NorthWall
  49  EastWall
  50  SouthWall
  51  WestWall

Plan:
STEP 1: Move across the room to the left side of the large tan sofa | STEP 2: Pick up the phone to the right of the purple cushion on top of the sofa | STEP 3: Carry the phone to the large floor lamp by the window | STEP 4: Turn on the lamp | END