Task: Turn on a lamp while carrying a newspaper

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -2.25          0.901          1.5            0              180            0
   1  TissueBox       -3.435         0.205          4.459          0              90             0              51
   2  CellPhone       -0.376         1.592          0.914          0              270            0              43
   3  Watch           -0.163         0.074          1.102          0              270            0              37
   4  Watch           -4.682         0.996          4.290          0              90             0              53
   5  KeyChain        -4.826         1.108          4.490          0              90             0              52
   6  CreditCard      -5.043         1.398          0.122          0              0              0              26
   7  RemoteControl   -1.960         0.592          4.211          0              0              0              46
   8  Box             -4.673         0.425          4.459          0              90             0              55
   9  Watch           -4.826         1.108          4.292          0              90             0              53
  10  Pillow          -2.031         0.668          4.421          0              0              0              46
  11  TissueBox       -0.192         1.103          1.100          0              270            0              36
  12  Newspaper       -0.952         0.615          1.960          0              0              0              56
  13  CreditCard      -1.835         0.589          4.470          0              0              0              46
  14  KeyChain        -0.169         1.592          0.914          0              270            0              43
  15  CellPhone       -0.705         0.613          2.753          0              0              0              56
  16  Statue          -5.364         1.044          0.173          0              0              0              34
  17  Laptop          -3.393         1.104          4.492          0              191.867        0              52
  18  RemoteControl   -3.863         1.110          4.391          0              90             0              48
  19  Vase            -2.404         0.037          0.317          0              90             0              35
  20  DeskLamp        -4.649         1.051          0.268          0              0              0
  21  DeskLamp        -2.992         1.107          4.522          0              0              0
  22  FloorLamp       -0.650         0.007          4.431          0              0              0
  23  FloorLamp       -5.607         0.007          4.641          0              0              0
  24  Shelf           -5.237         1.776          0.070          0              0              0
  25  Shelf           -5.238         1.968          0.085          0              0              0
  26  Shelf           -5.242         1.391          0.086          0              0              0
  27  Shelf           -5.241         1.582          0.065          0              0              0
  28  LightSwitch     -6.002         1.353          3.404          0              90             0
  29  GarbageCan      -5.794         -0.033         4.073          0              90             0
  30  Painting        -6.017         1.802          4.177          90             270            0
  31  HousePlant      -3.966         1.625          0.135          0              315            0
  32  Television      -3.355         0.833          0.027          0              0              0
  33  Drawer          -5.024         0.903          0.370          0              0              0
  34  SideTable       -5.024         0.008          0.267          0              0              0
  35  Safe            -2.298         5.778          0.268          0              90             0
  36  Shelf           -0.253         0.781          1.058          0              270            0
  37  Shelf           -0.283         0.274          1.066          0              270            0
  38  Shelf           -1.224         1.288          0.270          0              0              0
  39  Shelf           -1.218         1.810          0.275          0              0              0
  40  Shelf           -0.280         1.810          1.057          0              270            0
  41  Shelf           -1.218         0.274          0.262          0              0              0
  42  Shelf           -1.223         0.782          0.237          0              0              0
  43  Shelf           -0.280         1.288          1.055          0              270            0
  44  ShelvingUnit    -0.268         0.004          1.067          0              270            0
  45  ShelvingUnit    -1.218         0.004          0.244          0              0              0
  46  ArmChair        -2.027         0.001          4.422          0              178.692        0
  47  Drawer          -4.329         1.014          4.311          0              180            0
  48  Drawer          -3.750         1.014          4.311          0              180            0
  49  Cabinet         -4.049         0.561          4.212          0              180            0
  50  Cabinet         -4.032         0.561          4.212          0              180            0
  51  Cabinet         -2.884         0.561          4.212          0              180            0
  52  Dresser         -4.041         -0.000         4.589          0              180            0
  53  Drawer          -4.916         1.014          4.311          0              180            0
  54  Drawer          -3.166         1.014          4.311          0              180            0
  55  Cabinet         -5.196         0.561          4.212          0              180            0
  56  Sofa            -0.705         -0.002         2.753          0              270            0
  57  NorthWall
  58  SouthWall
  59  SouthWall

Plan:
STEP 1: Move to the right side of the large tan sofa | STEP 2: Pick up the newspaper on top of the sofa | STEP 3: Carry the newspaper to the left side of the sofa where the lamp is | STEP 4: Turn on the lamp | END