Task: grab the phone from the blue sofa, turn on the lamp in the corner

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -4.5           0.901          1.5            0              180            0
   1  Newspaper       -0.221         0.598          0.827          0              270            0              40
   2  Newspaper       -5.534         1.045          0.372          0              0              0              38
   3  CellPhone       -1.584         0.590          4.644          0              0              0              50
   4  Statue          -4.184         1.113          4.391          0              90             0              56
   5  Vase            -3.570         0.207          4.459          0              90             0              54
   6  Watch           -0.213         0.074          0.828          0              270            0              41
   7  Watch           -5.364         1.039          0.107          0              0              0              38
   8  KeyChain        -1.035         0.616          2.753          0              0              0              60
   9  RemoteControl   -3.863         1.110          4.292          0              90             0              52
  10  RemoteControl   -1.960         0.592          4.211          0              0              0              50
  11  Laptop          -1.584         0.588          4.384          0              0              0              50
  12  Box             -5.194         1.260          0.306          0              180            0              38
  13  Watch           -3.863         1.108          4.490          0              90             0              56
  14  Pillow          -2.031         0.668          4.421          0              0              0              50
  15  TissueBox       -0.273         1.593          1.006          0              270            0              43
  16  Newspaper       -4.673         0.210          4.523          0              90             0              59
  17  CreditCard      -4.854         1.038          0.173          0              0              0              38
  18  KeyChain        -2.191         0.034          0.265          0              90             0              39
  19  CellPhone       -0.705         0.609          1.960          0              0              0              60
  20  Statue          -1.092         0.079          0.312          0              0              0              45
  21  Laptop          -3.393         1.104          4.492          0              191.867        0              56
  22  RemoteControl   -1.277         1.104          0.229          0              0              0              42
  23  Vase            -3.864         1.111          4.786          0              90             0              56
  24  DeskLamp        -4.649         1.051          0.268          0              0              0
  25  DeskLamp        -2.992         1.107          4.522          0              0              0
  26  FloorLamp       -0.650         0.007          4.431          0              0              0
  27  FloorLamp       -5.607         0.007          4.641          0              0              0
  28  Shelf           -5.237         1.776          0.070          0              0              0
  29  Shelf           -5.238         1.968          0.085          0              0              0
  30  Shelf           -5.242         1.391          0.086          0              0              0
  31  Shelf           -5.241         1.582          0.065          0              0              0
  32  LightSwitch     -6.002         1.353          3.404          0              90             0
  33  GarbageCan      -5.794         -0.033         4.073          0              90             0
  34  Painting        -6.017         1.802          4.177          90             270            0
  35  HousePlant      -3.966         1.625          0.135          0              315            0
  36  Television      -3.355         0.833          0.027          0              0              0
  37  Drawer          -5.024         0.903          0.370          0              0              0
  38  SideTable       -5.024         0.008          0.267          0              0              0
  39  Safe            -2.298         5.778          0.268          0              90             0
  40  Shelf           -0.253         0.781          1.058          0              270            0
  41  Shelf           -0.283         0.274          1.066          0              270            0
  42  Shelf           -1.224         1.288          0.270          0              0              0
  43  Shelf           -1.218         1.810          0.275          0              0              0
  44  Shelf           -0.280         1.810          1.057          0              270            0
  45  Shelf           -1.218         0.274          0.262          0              0              0
  46  Shelf           -1.223         0.782          0.237          0              0              0
  47  Shelf           -0.280         1.288          1.055          0              270            0
  48  ShelvingUnit    -0.268         0.004          1.067          0              270            0
  49  ShelvingUnit    -1.218         0.004          0.244          0              0              0
  50  ArmChair        -2.027         0.001          4.422          0              178.692        0
  51  Drawer          -4.329         1.014          4.311          0              180            0
  52  Drawer          -3.750         1.014          4.311          0              180            0
  53  Cabinet         -4.049         0.561          4.212          0              180            0
  54  Cabinet         -4.032         0.561          4.212          0              180            0
  55  Cabinet         -2.884         0.561          4.212          0              180            0
  56  Dresser         -4.041         -0.000         4.589          0              180            0
  57  Drawer          -4.916         1.014          4.311          0              180            0
  58  Drawer          -3.166         1.014          4.311          0              180            0
  59  Cabinet         -5.196         0.561          4.212          0              180            0
  60  Sofa            -0.705         -0.002         2.753          0              270            0
  61  NorthWall
  62  SouthWall
  63  SouthWall

Plan:
STEP 1: turn left, walk to the white sofa, turn left walk to the blue sofa | STEP 2: grab the phone on the blue sofa | STEP 3: turn right to the lamp | STEP 4: turn on the lamp | END