Task: Carry a newspaper 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           -5.5           0.901          3.5            0              90             0
   1  TissueBox       -2.901         1.112          4.786          0              90             0              59
   2  Newspaper       -0.221         1.597          0.823          0              270            0              50
   3  Newspaper       -3.503         0.210          4.523          0              90             0              57
   4  Newspaper       -3.863         1.114          4.490          0              90             0              59
   5  Statue          -0.273         1.597          1.097          0              270            0              47
   6  Vase            -0.228         1.105          0.826          0              270            0              47
   7  Watch           -5.364         1.039          0.504          0              0              0              41
   8  KeyChain        -1.035         0.609          3.017          0              0              0              63
   9  CreditCard      -3.222         1.111          4.687          0              90             0              59
  10  CreditCard      -0.222         0.592          1.193          0              270            0              43
  11  RemoteControl   -1.367         0.076          0.213          0              0              0              48
  12  Box             -4.184         1.329          4.490          0              90             0              59
  13  Laptop          -0.952         0.620          2.753          0              0              0              63
  14  Pillow          -1.584         0.668          4.211          0              0              0              53
  15  Box             -0.952         0.830          1.960          0              180            0              63
  16  Watch           -1.189         1.592          0.428          0              0              0              46
  17  Pillow          -2.031         0.668          4.421          0              0              0              53
  18  TissueBox       -4.854         1.040          0.239          0              0              0              41
  19  Newspaper       -2.914         0.205          4.528          0              90             0              58
  20  CreditCard      -1.459         0.589          4.211          0              0              0              53
  21  KeyChain        -2.297         0.034          0.265          0              90             0              42
  22  CellPhone       -4.826         1.108          4.588          0              90             0              59
  23  Statue          -4.505         1.117          4.391          0              90             0              59
  24  Laptop          -3.393         1.104          4.492          0              191.867        0              59
  25  RemoteControl   -5.534         1.041          0.239          0              0              0              41
  26  Vase            -3.864         1.115          4.786          0              90             0              59
  27  DeskLamp        -4.649         1.051          0.268          0              0              0
  28  DeskLamp        -2.992         1.107          4.522          0              0              0
  29  FloorLamp       -0.650         0.007          4.431          0              0              0
  30  FloorLamp       -5.607         0.007          4.641          0              0              0
  31  Shelf           -5.237         1.776          0.070          0              0              0
  32  Shelf           -5.238         1.968          0.085          0              0              0
  33  Shelf           -5.242         1.391          0.086          0              0              0
  34  Shelf           -5.241         1.582          0.065          0              0              0
  35  LightSwitch     -6.002         1.353          3.404          0              90             0
  36  GarbageCan      -5.794         -0.033         4.073          0              90             0
  37  Painting        -6.017         1.802          4.177          90             270            0
  38  HousePlant      -3.966         1.625          0.135          0              315            0
  39  Television      -3.355         0.833          0.027          0              0              0
  40  Drawer          -5.024         0.903          0.370          0              0              0
  41  SideTable       -5.024         0.008          0.267          0              0              0
  42  Safe            -2.298         5.778          0.268          0              90             0
  43  Shelf           -0.253         0.781          1.058          0              270            0
  44  Shelf           -0.283         0.274          1.066          0              270            0
  45  Shelf           -1.224         1.288          0.270          0              0              0
  46  Shelf           -1.218         1.810          0.275          0              0              0
  47  Shelf           -0.280         1.810          1.057          0              270            0
  48  Shelf           -1.218         0.274          0.262          0              0              0
  49  Shelf           -1.223         0.782          0.237          0              0              0
  50  Shelf           -0.280         1.288          1.055          0              270            0
  51  ShelvingUnit    -0.268         0.004          1.067          0              270            0
  52  ShelvingUnit    -1.218         0.004          0.244          0              0              0
  53  ArmChair        -2.027         0.001          4.422          0              178.692        0
  54  Drawer          -4.329         1.014          4.311          0              180            0
  55  Drawer          -3.750         1.014          4.311          0              180            0
  56  Cabinet         -4.049         0.561          4.212          0              180            0
  57  Cabinet         -4.032         0.561          4.212          0              180            0
  58  Cabinet         -2.884         0.561          4.212          0              180            0
  59  Dresser         -4.041         -0.000         4.589          0              180            0
  60  Drawer          -4.916         1.014          4.311          0              180            0
  61  Drawer          -3.166         1.014          4.311          0              180            0
  62  Cabinet         -5.196         0.561          4.212          0              180            0
  63  Sofa            -0.705         -0.002         2.753          0              270            0
  64  NorthWall
  65  SouthWall
  66  SouthWall

Plan:
STEP 1: Move to the right side of the wood cupboard to the left of the blue sofa | STEP 2: Open the right cupboard then remove the newspaper in the cupboard | STEP 3: Carry the newspaper to the lamp that is left of the tan sofa | STEP 4: Turn on the lamp | END