Task: Carry a cushion 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           2.5            0.900          0.0            0              180            0
   1  TissueBox       1.324          0.479          0.594          0              180            0              33
   2  Newspaper       -0.401         0.838          -0.623         0              0              0              37
   3  Newspaper       1.324          0.476          0.431          0              180            0              33
   4  Pencil          3.967          0.881          0.865          0              0              0              42
   5  Pen             -0.512         0.845          -0.867         0              0              0              37
   6  KeyChain        -0.269         0.323          1.882          0              91.372         0              40
   7  CreditCard      0.967          0.335          1.527          0              0              0              23
   8  CreditCard      2.009          0.065          -0.653         0              0              0              38
   9  Box             -0.29          1.074          -0.714         0              270            0              Floor|+00.00|
  10  Newspaper       -0.501         0.067          -0.691         0              0              0              36
  11  Laptop          1.805          0.47           0.499          0              0              0              33
  12  WateringCan     1.621          0.056          -0.697         0              0              0              38
  13  TissueBox       3.928          0.878          1.076          0              0              0              42
  14  KeyChain        -0.606         0.069          -0.767         0              0              0              36
  15  Pen             -0.185         0.074          -0.767         0              180            0              36
  16  Boots           4.005          0.001          1.707          1.563          246.167        0
  17  Pencil          -0.624         0.843          -0.721         0              0              0              37
  18  RemoteControl   -0.624         0.841          -0.77          0              0              0              37
  19  CreditCard      1.380          0.335          1.673          0              0              0              41
  20  Pillow          0.651          0.395          1.708          0              0              0              23
  21  Statue          -0.532         0.443          -0.738         0              92.244         0              39
  22  Statue          -0.290         0.467          -0.691         0              0              0              39
  23  Sofa            1.174          0.0            1.865          0              0              0
  24  FloorLamp       3.608          0.000          2.163          0              0              0
  25  GarbageCan      3.833          -0.029         -0.495         0              0              0
  26  Television      1.897          1.281          -0.838         0              0              0
  27  Painting        4.070          1.950          0.848          90             270            0
  28  HousePlant      0.387          0.801          -0.725         0              90             0
  29  Window          0.023          2.072          2.484          90             180            0
  30  Window          1.570          2.072          2.484          90             180            0
  31  LightSwitch     -1.399         1.289          1.835          0              90             0
  32  ArmChair        2.655          0.000          1.858          0              180            0
  33  CoffeeTable     1.591          -0.000         0.446          0              180            0
  34  Shelf           1.905          0.588          -0.730         0              0              0
  35  TVStand         1.904          -0.000         -0.770         0              0              0
  36  Shelf           -0.289         0.200          -0.732         0              0              0
  37  TVStand         -0.290         -0.000         -0.772         0              0              0
  38  Shelf           1.905          0.200          -0.730         0              0              0
  39  Shelf           -0.289         0.588          -0.732         0              0              0
  40  ArmChair        -0.270         0.000          1.870          0              181.372        0
  41  Sofa            1.193          0.008          1.865          0              180            0
  42  SideTable       3.946          0.000          0.865          0              270            0
  43  Drawer          3.882          0.774          0.864          0              270            0
  44  NorthWall
  45  EastWall
  46  SouthWall
  47  WestWall

Plan:
STEP 1: Move to the left side of the large green sofa | STEP 2: Pick up the red cushion that is sitting on top of the green sofa | STEP 3: Carry the red cushion over to the floor lamp in the corner of the room | STEP 4: Turn on the lamp | END