Task: Turn on a lamp while holding a cushion

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -3.0           0.900          -0.25          0              180            0
   1  TissueBox       -0.256         0.635          1.255          0              0              0              43
   2  TissueBox       -0.806         0.129          1.238          0              0              0              40
   3  Statue          1.660          0.757          -1.413         0              0              0              35
   4  KeyChain        -4.005         1.063          0.589          0              0              0              30
   5  RemoteControl   1.576          0.463          -1.408         0              0              0              34
   6  CreditCard      1.416          0.460          -1.461         0              0              0              34
   7  CreditCard      -4.005         1.062          0.264          0              0              0              30
   8  Box             -3.780         1.305          0.457          0              0              0              30
   9  Vase            -0.971         0.114          1.197          0              0              0              40
  10  TissueBox       -1.226         0.129          1.238          0              0              0              40
  11  Newspaper       0.817          0.657          0.968          0              0              0              31
  12  KeyChain        -1.451         0.510          -1.293         0              0              0              33
  13  Vase            0.667          0.668          1.192          0              0              0              31
  14  Statue          -1.29          0.891          1.219          0              180            0              42
  15  RemoteControl   0.056          0.483          -1.319         0              0              0              39
  16  Pillow          -1.827         0.585          -1.251         0              0              0              33
  17  CreditCard      1.629          0.460          -1.619         0              0              0              34
  18  Laptop          1.267          0.656          1.192          0              0              0              31
  19  Vase            -0.516         0.114          1.201          0              0              0              40
  20  Statue          1.576          0.757          -1.262         0              0              0              35
  21  DeskLamp        1.657          0.654          -1.605         0              0              0
  22  FloorLamp       -4.569         0.005          -1.616         0              15.092         0
  23  LightSwitch     -2.464         1.230          -1.950         0              0              0
  24  GarbageCan      -4.581         -0.032         1.126          0              90             0
  25  Television      -0.549         1.516          1.450          0              180            0
  26  HousePlant      1.555          0.650          1.166          0              0              0
  27  Window          -2.012         1.501          1.468          90             0              0
  28  Window          0.986          1.501          1.468          90             0              0
  29  Painting        -0.698         1.835          -1.911         90             0              0
  30  DiningTable     -3.941         0.005          0.257          0              0              0
  31  SideTable       1.102          -0.000         1.118          0              180            0
  32  Drawer          1.103          0.519          0.834          0              180            0
  33  ArmChair        -1.832         0.010          -1.349         0              0              0
  34  Drawer          1.581          0.523          -1.199         0              0              0
  35  SideTable       1.581          0.003          -1.488         0              0              0
  36  Painting        -4.910         1.763          -0.098         90             270            0
  37  Chair           -4.398         0.002          0.274          0              85.162         0
  38  Chair           -3.825         0.002          -0.223         0              340.163        0
  39  Sofa            0.057          -0.002         -1.386         0              0              0
  40  Shelf           -0.552         0.114          1.252          0              180            0
  41  Drawer          -1.020         0.728          1.032          0              180            0
  42  SideTable       -0.589         0.000          1.227          0              180            0
  43  Drawer          -0.157         0.728          1.032          0              180            0
  44  NorthWall
  45  EastWall
  46  SouthWall
  47  WestWall

Plan:
STEP 1: Move to the two sofa chairs facing the one on the left against the wall | STEP 2: Pick up the red cushion on top of the chair | STEP 3: Carry the cushion to the brown side table to the left of the chairs | STEP 4: Turn on the lamp on top of the side table | END